CN116252812A - Vehicle lane change control method and device and storage medium - Google Patents
Vehicle lane change control method and device and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/225—Direction of gaze
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Abstract
The invention discloses a vehicle lane change control method and device and a storage medium. The control method comprises the following steps: acquiring user action information, wherein the user action information comprises at least one of sight line information and turn information; generating a lane change control instruction according to the user action information; and controlling the vehicle to change the lane according to the lane change control instruction. According to the vehicle lane change control method and device and the storage medium, manual intervention of a user is not needed in the automatic driving process of the vehicle, the lane change intention of the user can be timely and accurately known, and the vehicle is controlled to perform corresponding lane change operation, so that the defect of humanization in the traditional automatic lane change mechanism is overcome, the automatic driving control function of the vehicle is perfected, and the riding experience of personnel in the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of automobile automation, in particular to a vehicle lane change control method and device and a storage medium.
Background
Current applications of autopilot are becoming popular, but it is often difficult for a vehicle to change lanes satisfactorily and timely during autopilot. For example, the following scenarios exist:
in a first scenario, when the road condition is normal, the automatic driving system does not consider the situation that pressure is easily caused to personnel in the vehicle around the road condition, for example, large vehicles such as earthmoving vehicles and the like around the vehicle, dangerous goods vehicles such as an oil tank truck and the like, or luxury vehicles with poor value and the like, and at the moment, the personnel in the vehicle are in a shapely state of 24820 and 24820, but the automatic driving system does not start lane change.
In the second scene, when a great amount of sand or dust is raised on the front vehicle to influence the view in front of the current lane, the automatic driving system usually cannot start lane change.
In a third scenario, the surrounding environment does not trigger the automatic driving system to start lane changing, and a user in the automatic driving vehicle is dining and working without leaving hands, so that the vehicle cannot timely change lanes according to the intention of the user.
Other various scenarios are, of course, included in addition to these. The reason why the lane change is unsatisfactory is that the lane change in automatic driving is only based on the judgment of the surrounding road condition and other vehicle position conditions, and some special lane change requirements cannot be considered, so that negative riding experience is brought to the personnel in the vehicle.
Disclosure of Invention
The invention aims to overcome the defect that the lane change control cannot meet the user requirement when a vehicle is automatically driven in the prior art, and provides a vehicle lane change control method and device and a storage medium.
The invention solves the technical problems by the following technical scheme:
the invention provides a vehicle lane change control method, which comprises the following steps:
acquiring user action information, wherein the user action information comprises at least one of sight line information and turn information;
generating a lane change control instruction according to the user action information;
and controlling the vehicle to change the lane according to the lane change control instruction.
The invention also provides a vehicle lane change control device, which comprises a memory and a processor connected with the memory, wherein the processor realizes the vehicle lane change control method when executing a computer program stored on the memory.
The invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the above-described vehicle lane change control method.
The method and the device for controlling the lane change of the vehicle have the positive progress effects that the lane change intention of the user can be timely and accurately known and the vehicle can be controlled to perform corresponding lane change operation without manual intervention in the automatic driving process of the vehicle, so that the defect of humanization deficiency in the traditional automatic lane change mechanism is overcome, the automatic driving control function of the vehicle is perfected, and the riding experience of personnel in the vehicle is improved.
Drawings
Fig. 1 is a flowchart of a vehicle lane change control method according to embodiment 1 of the present invention.
Fig. 2 is a schematic view of a vehicle lane change control method according to embodiment 1 of the present invention.
Fig. 3 is a schematic view of a vehicle lane change control method according to embodiment 1 of the present invention.
Fig. 4 is a schematic view of a vehicle lane change control method according to embodiment 1 of the present invention.
Fig. 5 is a block diagram showing the configuration of a lane change control apparatus for a vehicle according to embodiment 2 of the present invention.
Detailed Description
The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1, the embodiment specifically provides a method for controlling lane change of a vehicle, which includes the following steps:
s1, acquiring user action information, wherein the user action information comprises at least one of sight line information and turn information;
s2, generating a lane change control instruction according to the user action information;
s3, controlling the vehicle to change the lane according to the lane change control instruction.
In this embodiment, the auxiliary driving of the vehicle is used as an application scenario, and it can be understood by those skilled in the art that the auxiliary driving can implement the lane changing operation of the vehicle based on the road condition detection, so that the vehicle can be regarded as an automatic driving process without manual lane changing by a user under the normal road condition. The user action in step S1 is mainly directed to an action other than the manual operation of the vehicle by the user, and the user action can reflect its intention to change the lane. Specifically, it may be corresponding information obtained by the user turning the head or shifting the line of sight. Based on the user action information, the step S2 generates a lane change control instruction according to the user action information, and the lane change control instruction is actually generated based on the judgment of the lane change intention of the user, so that the lane change control of the vehicle executed in the step S3 can follow the original purpose of the user on lane change of the vehicle in the automatic driving process; and in connection with the background section it will be appreciated that lane change control resulting therefrom will not tend to occur during normal autopilot, if not due to user intervention.
As an optional embodiment, the sight line information includes landing point position information of a sight line of the user in the vehicle; the step S2 comprises the following steps: if the drop point is positioned in the preset trigger area, generating a lane change control instruction corresponding to the preset trigger area.
The landing point position is the landing point of the binocular vision line focus, and in this embodiment, the landing point is located in the vehicle interior space. The Gaze Estimation (Gaze Estimation) technology is a technology for identifying human attention behaviors, and is widely applied in the fields of medical treatment, games and the like, and in this embodiment, the determination of the Gaze landing point position in the scene of vehicle assisted driving can be implemented by adopting a Gaze Estimation technology, which includes but is not limited to. Line-of-sight estimation methods are generally classified into geometry-based methods and appearance-based methods, and according to the information on which the calculation depends, include common methods such as monocular/binocular line-of-sight estimation, line-of-sight estimation based on semantic information, full-face line-of-sight estimation, and the like. In particular, gaze point estimation on a two-dimensional plane, such as a mirror surface, a windshield surface, etc., may be included. The inputs to the technical model typically include left and right eye images, face images, and location. And respectively processing and fusing by setting four branches corresponding to the four inputs to obtain the two-dimensional coordinate position corresponding to the surface. In the above model, the face mainly provides head pose information, and the face position mainly provides eye position information. In the improved algorithm for removing redundancy, the two inputs of the face and the face position can be replaced by the position coordinates of four corners of eyes. The angular eye position coordinates not only directly provide eye position information, but also implicitly include head pose information. For gaze point estimation in three-dimensional space, the direction of the human's line of sight is usually deduced from the eye or face images, which is generally represented by vertical and horizontal directions, and the direction of the line of sight in the camera coordinate system depends not only on the state of the eyes, including the positions of the beads and the degree of opening and closing of the eyes, but also on the head pose. After the vertical and horizontal angles of the sight line direction are estimated by the model, a three-dimensional vector representing the sight line direction can be calculated, and the included angle between the vector and the true direction vector is an evaluation index commonly used for sight line estimation, and deviation elimination is carried out by adopting methods such as a differential network and the like.
Based on the obtaining of the drop point position, step S2 generates a lane change control instruction when the drop point position is determined to be located in the preset trigger area, wherein the lane change control instruction and the preset trigger area can be correspondingly preset according to user habits, ergonomics, internal space structures of the vehicle type and the like. According to the method and the device, the lane change control instruction is generated by detecting the position of the user sight falling point and judging the position relation between the falling point position and the preset trigger area, so that the lane change intention of the user can be flexibly and effectively known, the hands of the user are liberated, the intention of the user is followed in the vehicle driving process, and lane change is accurately and conveniently realized.
As a preferred embodiment, the step of generating the track control command corresponding to the preset trigger area includes: detecting whether the turning direction of a user is consistent with the position of a preset trigger area according to turning information; if yes, generating a lane change control instruction corresponding to the preset trigger area.
The present embodiment confirms the lane change intention of the user in combination with the head movement of the user. Specifically, when the turning direction is consistent with the position set by the preset trigger area, a lane change control instruction corresponding to the preset trigger area is generated. Thus avoiding false triggering in some cases, such as when talking between users, the inadvertent line of sight falls to a preset triggering area on one side; the turning direction of the user can represent the lane changing intention of the user, and the lane changing control instruction is further generated on the basis of the lane changing intention, so that the lane changing intention can be more matched with the intention of the user.
In step S2, the lane change control command corresponding to the preset trigger area is generated only when the drop point position is located in the preset trigger area for a first preset duration.
In this embodiment, after determining that the position of the falling point of the user's sight line is located in the preset trigger area, continuously calculating whether the residence time of the user's sight line in the preset trigger area reaches a first preset duration; the situation that the user looks at the preset trigger area for a short time to generate a corresponding lane change control instruction is avoided, and the intention of the user is against the problem. For example, the first preset duration is set to 5 seconds, so that when the position of the landing point of the line of sight of the user stays in the preset trigger area for only 0.8 seconds, that is, leaves, it is considered that the user does not have the lane change intention corresponding to the preset trigger area, and the lane change control instruction is not generated. According to the method and the device, through detection of the time and the space, the lane changing intention of a user can be matched more accurately, and a corresponding lane changing control instruction can be generated more accurately.
As a preferred embodiment, the control method further includes: if the drop point position is located in the preset trigger area, generating prompt information; the prompting information is used for prompting a user to send out lane change confirmation information; and generating a lane change control instruction corresponding to the preset trigger area only when the lane change confirmation information is received within the second preset time period.
In the embodiment, aiming at the situation that the false triggering lane change control instruction possibly exists after the position of the line-of-sight falling point of the user is confirmed to be located in the preset trigger area, the recognition accuracy of the user intention is improved by generating prompt information and detecting corresponding confirmation information. The prompting message can be sent out in various forms, for example, but not limited to, by broadcasting voice, namely, the vehicle enters a left lane soon, requests confirmation, or displays corresponding text or image warning information on the vehicle; likewise, lane change confirmation information may be sent in various forms; including but not limited to voice information, user action information, etc. For example, voice information including keywords such as "agree", "OK", or the like, or a click action, a blink action, or the like. The method and the device are beneficial to ensuring that the generated lane change control instruction accords with the lane change intention of the user by setting the lane change confirmation information and corresponding confirmation detection.
As an optional embodiment, the sight line information includes landing point position information of a sight line of the user in the vehicle; the step S2 comprises the following steps: if the number of times that the drop point position enters the preset trigger area within the third preset duration range reaches the number threshold, generating a lane change control instruction corresponding to the preset trigger area.
The embodiment provides a triggering mode for generating a lane change control instruction, and whether the user does have the lane intention corresponding to the preset triggering area or not is confirmed by setting a third preset duration and detecting the times of entering the preset triggering area by the position of the drop point within the third preset duration range. That is, the user gazes at the preset trigger area for a plurality of times within a specific time range, and the user gazes at the preset trigger area can be regarded as representing that the user has the lane change intention corresponding to the preset trigger area. For example, in some situations, although the vehicle is still focused on the current road condition after the user is assisted to generate the lane changing intention, or is focused on the target for generating the lane changing motivation from time to time, in this case, the implementation of the user may be transferred between the preset trigger area and the road or a certain target in front of the vehicle, so that the present embodiment confirms the lane changing intention by detecting whether the number of times the position of the landing point of the line of sight of the user enters the preset trigger area reaches the number threshold, and more accords with the possible behavior of the user in the driving process.
As an alternative embodiment, the preset triggering area comprises a left side reflector area, a right side reflector area and a rearview mirror area; the step of generating the lane change control instruction according to the sight line information comprises the following steps:
if the preset trigger area is a left reflecting mirror area, generating a lane change control instruction for changing lanes of the left adjacent lane; if the preset trigger area is a right side reflector area, generating a lane change control instruction for changing lanes of the adjacent lanes to the right side; if the preset trigger area is a rearview mirror area, generating a lane change control instruction for changing lanes of the left adjacent lane.
The embodiment provides a corresponding setting mode for the preset trigger area and the lane change control instruction, and it can be understood that the left and right side reflector areas respectively correspond to the lane change control instruction of the left and right side adjacent lanes, so that the lane change control instruction is more in line with the action habit of a common user; in addition, observing the rearview mirror is also a common way for users to observe surrounding road conditions, so the preset trigger area can also be a rearview mirror area, which corresponds to a lane change control instruction of lane change adjacent to the left side and accords with the driving specification of 'left overtaking'. For example, when the user sees that the rear view mirror always has a large-sized earth vehicle trailing and the vehicle distance is too close to each other, the user may be involved in rear-end collision, and when the user detects that the sight line falling point position meets the condition corresponding to the rearview mirror area, the left lane changing control command is generated to change lanes, so that the user can get rid of psychological pressing feeling caused by the large-sized earth vehicle trailing.
Taking the above as an example, referring to fig. 2, whether the turning direction of the user coincides with the position where the preset trigger area is located is detected according to the turning information, and when the preset trigger area is a left side mirror area (such as the position 100 in fig. 2), and the user turns left, a lane change control instruction for changing lanes of a left side adjacent lane is generated; or as shown in fig. 3, when the preset trigger area is a right mirror area (such as position 200 in fig. 3) and the user turns right, a lane change control instruction for changing lanes of the adjacent lane to the right is generated. As shown in fig. 4, for example, when the number of times that the position of the falling point of the line of sight of the user enters the rearview mirror area (such as the position 300 in fig. 4) within the third preset duration range reaches the preset threshold, a control command for changing track to the left is generated. According to the method and the device, the corresponding relation between the preset trigger area and the lane change control instruction is reasonably set, so that the lane change control instruction of the vehicle can be more reasonably generated according to the driving scene of the vehicle and the habit of a user.
As an alternative embodiment, the sight line information includes landing position information of a sight line of the user in the vehicle, and step S2 includes: confirming a target lane according to the position of the drop point and an imaging area of a vehicle AR-HUD (Augmented Reality-Head up Display) system; and generating a lane change control instruction according to the target lane.
The AR-HUD displays information on the windshield by utilizing an optical reflection principle, so that the attention of a user can be focused on a front road surface, delay and discomfort caused by continuous adjustment of the focal length of eyes are reduced, auxiliary information is provided, and driving safety is guaranteed. The imaging technology is similar to the design principle of a slide, namely, light information is sent out by a projector and reflected to a projection lens, and then the light information is reflected to a front windshield by the projection lens, so that a user in a vehicle can see a virtual image positioned in front of eyes, and the information is suspended on the front road. Of course, since the front windshield is generally curved, the direct projection of an image onto the curved glass surface causes distortion of the image, and thus correction is often performed by designing the projection mirror and the reflection mirror to be curved.
By imaging the AR-HUD system, road conditions in front of the vehicle can be clearly presented to the user, and in combination with means including, but not limited to, the line of sight estimation techniques described above, the target lane can be accurately determined based on the location of the landing point of the user's line of sight and the imaging area of the AR-HUD system. For example, four lanes including a current driving lane are displayed in an imaging area of a front windshield of a vehicle by an AR-HUD system, a control instruction for lane change to the left is generated if a falling point position of a line of sight of a user falls in a current left adjacent lane in the imaging area, and as in the four lanes, the current vehicle is driven in a leftmost lane and the user intends to drive out a next high-speed exit, and accordingly the falling point position of the line of sight thereof falls in a rightmost lane in the imaging area, in this case, it is determined that the lane change intention of the user is the rightmost lane, and a corresponding lane change control instruction is generated. Of course, in the case where the target lane and the current lane which meet the user's intention are not adjacent, this may be accomplished in such a manner that the lane is changed one by one toward the target lane.
According to the embodiment, the lane change intention of the user is analyzed by combining the imaging area of the AR-HUD system, the lane change purpose of the user can be mastered more flexibly and accurately, and corresponding control means are adopted to meet the lane change requirement of the user.
As a preferred embodiment, the turn information includes turn direction information of the user, and step S2 includes: if the turning direction accords with the preset trigger direction, generating a lane change control instruction corresponding to the preset trigger direction.
In this embodiment, step S2 generates the lane change control command by determining whether the user head steering meets the preset trigger direction. Wherein the user head steering may be obtained by means including, but not limited to, head pose estimation. Head pose estimation is typically determined by pitch angle, yaw angle, roll angle; the pitch angle represents the head-up angle, the yaw angle represents the angle of deflection shaking heads towards two sides, and the roll angle is used for representing the angle of the turning head. For example, determining whether the swivel direction corresponds to the direction in which the mirror region is located by the swivel angle; and judging whether the turning direction corresponds to the direction of the rearview mirror area or not through the combination of the pitch angle and the roll angle.
Preferably, the preset trigger direction includes a left direction and a right direction; correspondingly, step S2 includes: if the preset trigger direction is the left direction, generating a lane change control instruction for changing lanes of the left adjacent lane; if the preset trigger direction is the right direction, generating a lane change control instruction for changing lanes of the adjacent lanes to the right. As a preferred embodiment, the intention of the user for left transition and right transition is judged by specifying the left side direction and the right side direction, so that the method meets the user requirements in most scenes and is convenient to detect and confirm.
As a preferred embodiment, step S3 further includes:
acquiring surrounding environment information;
confirming whether the lane change condition is met according to the surrounding environment information;
and controlling the vehicle to change the track according to the track changing control instruction only when the track changing condition is met.
After the lane change control instruction is generated, acquiring and confirming whether surrounding environment information meets lane change conditions or not, and controlling lane change of the vehicle only when the lane change conditions are met, wherein the purpose is to confirm rationality and feasibility of lane change intention of a user on the basis of confirming the lane change intention of the user; the method is beneficial to timely making correction when the intention of the user is not consistent with the actual lane change condition, and accidents are avoided. For example, the lane change control instruction is to change lanes of adjacent lanes to the right, and the acquired surrounding environment information includes that a solid line is formed between the current lane and the adjacent lanes to the right, that is, the current position is not capable of changing lanes to the right, and the lane change condition is not satisfied. In the acquired surrounding environment information, the speed of the left rear vehicle is very fast, and the speed difference between the left rear vehicle and the speed of the vehicle exceeds a speed difference threshold value, so that the rear-end collision accident is very easy to occur when the lane is changed, and the lane changing condition is not met. In the above case, the operation of controlling the lane change of the vehicle according to the lane change control instruction is not performed.
In addition, when the lane change condition is found not to be satisfied, a prompt may be further made. For example by prompting the user in the form of speech or text: "the current environment does not support automatic lane changing, if lane changing is still required to be performed manually, and safety is noted.
The present embodiment is based on the study and judgment of the surrounding environment information, and conditionally executes the lane change control command, thereby being helpful for reasonably implementing lane change and ensuring the safety of the passenger and the vehicle.
The lane change control method for the vehicle can timely and accurately learn the lane change intention of the user and control the vehicle to perform corresponding lane change operation without manual intervention of the user in the automatic driving process of the vehicle, so that the defect of humanization deficiency in the conventional automatic lane change mechanism is overcome, the automatic driving control function of the vehicle is perfected, and the riding experience of personnel in the vehicle is improved.
Example 2
Referring to fig. 5, the present embodiment provides a vehicle lane change control apparatus 30 including a processor 31 and a memory 32 connected thereto, the processor 31 implementing a vehicle lane change control method as in embodiment 1 when executing a computer program stored on the memory 32. The vehicle lane-changing control apparatus 30 shown in fig. 5 is merely an example, and should not be construed as limiting the function and scope of use of the embodiment of the present invention.
The control means 30 of the lane change of the vehicle may be in the form of a general purpose computing device, which may be a server device, for example. Components of the vehicle lane change control 30 may include, but are not limited to: the at least one processor 31, the at least one memory 32, a bus 33 connecting the different system components, including the memory 32 and the processor 31.
The bus 33 includes a data bus, an address bus, and a control bus.
The processor 31 executes various functional applications and data processing, such as a method of controlling lane change of a vehicle in embodiment 1 of the present invention, by running a computer program stored in the memory 32.
The vehicle lane-changing control 30 may also be in communication with one or more external devices 34 (e.g., a keyboard, pointing device, etc.). Such communication may be through an input/output (I/O) interface 35. Also, model-generating device 30 may also communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet, via network adapter 36. Network adapter 36 communicates with the other modules of model-generating device 30 via bus 33. Other hardware and/or software modules may be used in connection with the model-generating device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, data backup storage systems, and the like.
It should be noted that although in the above detailed description several units/modules or sub-units/modules of a control device for lane change of a vehicle are mentioned, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module in accordance with embodiments of the present invention. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.
The lane change control device for the vehicle can timely and accurately learn the lane change intention of the user and control the vehicle to perform corresponding lane change operation without manual intervention of the user in the automatic driving process of the vehicle, so that the defect of humanization deficiency in the conventional automatic lane change mechanism is overcome, the automatic driving control function of the vehicle is perfected, and the riding experience of personnel in the vehicle is improved.
Example 3
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle lane change control method in embodiment 1.
More specifically, among others, readable storage media may be employed including, but not limited to: portable disk, hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
In a possible implementation, the disclosure may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the control method of implementing the lane change of the vehicle in embodiment 1, when the program product is run on the terminal device.
Wherein the program code for carrying out the present disclosure may be written in any combination of one or more programming languages, and the program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device, partly on a remote device or entirely on the remote device.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (13)
1. A vehicle lane change control method is characterized by comprising the following steps:
acquiring user action information, wherein the user action information comprises at least one of sight line information and turn information;
generating a lane change control instruction according to the user action information;
and controlling the vehicle to change the lane according to the lane change control instruction.
2. The vehicle lane-changing control method according to claim 1, the sight line information including landing point position information of a sight line of the user in a vehicle; the step of generating the lane change control instruction according to the user action information comprises the following steps:
and if the drop point position is positioned in a preset trigger area, generating a lane change control instruction corresponding to the preset trigger area.
3. The method for controlling lane change of a vehicle according to claim 2, wherein the step of generating the lane change control command corresponding to the preset trigger area if the landing position is located in the preset trigger area comprises:
if the drop point position is located in a preset trigger area, detecting whether the turning direction of the user is consistent with the position of the preset trigger area according to the turning information;
and if yes, generating a lane change control instruction corresponding to the preset trigger area.
4. The control method of lane changing of a vehicle according to claim 2, the control method further comprising:
and generating a lane change control instruction corresponding to the preset trigger area only when the drop point position is positioned in the preset trigger area for a first preset duration.
5. The control method of lane changing of a vehicle according to claim 2, the control method further comprising:
if the drop point position is located in a preset trigger area, generating prompt information; the prompting information is used for prompting a user to send out lane change confirmation information;
and generating a lane change control instruction corresponding to the preset trigger area only when the lane change confirmation information is received in the second preset time period.
6. The vehicle lane-changing control method according to claim 1, the sight line information including landing point position information of a sight line of the user in a vehicle; the step of generating the lane change control instruction according to the sight line information comprises the following steps:
and if the number of times that the drop point position enters the preset trigger area within the third preset duration range reaches a quantity threshold, generating a lane change control instruction corresponding to the preset trigger area.
7. The control method for lane changing of a vehicle according to any one of claims 2 to 6, wherein the preset trigger area includes a left mirror area, a right mirror area, a mirror area; the step of generating the lane change control instruction according to the sight line information comprises the following steps:
if the preset trigger area is a left reflecting mirror area, generating a lane change control instruction for changing lanes of the left adjacent lane;
if the preset trigger area is a right reflecting mirror area, generating a lane change control instruction for changing lanes of the adjacent lanes to the right;
and if the preset trigger area is a rearview mirror area, generating a lane change control instruction for changing lanes of the left adjacent lane.
8. The vehicle lane-changing control method according to claim 1, wherein the sight line information includes landing position information of a sight line of the user in a vehicle, and the step of generating the lane-changing control instruction based on the user action information includes:
confirming a target lane according to the drop point position and an imaging area of the vehicle AR-HUD system;
and generating the lane change control instruction according to the target lane.
9. The vehicle lane-changing control method according to claim 1, wherein the turn information includes turn direction information of the user, and the step of generating the lane-changing control instruction based on the user action information includes:
and if the turning direction accords with a preset trigger direction, generating a lane change control instruction corresponding to the preset trigger direction.
10. The vehicle lane-changing control method according to claim 9, wherein the preset trigger direction includes a left-side direction and a right-side direction; the step of generating the lane change control instruction according to the sight line information comprises the following steps:
if the preset trigger direction is the left direction, generating a lane change control instruction for changing lanes of the adjacent lanes on the left side;
and if the preset trigger direction is the right direction, generating a lane change control instruction for changing lanes of the adjacent lanes to the right.
11. The vehicle lane-changing control method according to claim 1, further comprising, before executing a lane-changing operation according to the lane-changing control instruction:
acquiring surrounding environment information;
confirming whether a lane change condition is met according to the surrounding environment information;
and controlling the vehicle to change the track according to the track changing control instruction only when the track changing condition is met.
12. A vehicle lane change control apparatus comprising a memory and a processor coupled to the memory, the processor implementing the vehicle lane change control method of any one of claims 1-11 when executing a computer program stored on the memory.
13. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method for controlling lane change of a vehicle according to any one of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111505859.4A CN116252812A (en) | 2021-12-10 | 2021-12-10 | Vehicle lane change control method and device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111505859.4A CN116252812A (en) | 2021-12-10 | 2021-12-10 | Vehicle lane change control method and device and storage medium |
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| Publication Number | Publication Date |
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| CN116252812A true CN116252812A (en) | 2023-06-13 |
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| CN202111505859.4A Pending CN116252812A (en) | 2021-12-10 | 2021-12-10 | Vehicle lane change control method and device and storage medium |
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| Country | Link |
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| CN (1) | CN116252812A (en) |
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