CN109835339B - Channel change decision method and device - Google Patents

Abstract

The invention discloses a lane change decision method and a lane change decision device, which are characterized in that the driving environment of a vehicle is divided into different areas based on the acquired first motion information of the vehicle and the second motion information of an environmental vehicle, the relative directions of the environmental vehicle and the vehicle in each area are the same, target vehicles in each area are determined, and lane change mark bits of each area are determined to be in a safe state or an unsafe state based on the relative distance and the relative speed between the target vehicle and the vehicle in each area, so that a target lane change decision is determined according to the lane change mark bits of each area. The invention determines the final target lane change decision by dividing the running environment of the vehicle into different areas and determining whether the target vehicle which can cause potential threat to the normal running of the vehicle exists in each area, the whole lane change decision determination process is simple and clear, and the collection and training of a large amount of data are avoided.

Description

Channel change decision method and device

Technical Field

The invention relates to the technical field of automatic driving, in particular to a lane change decision method and a lane change decision device.

Background

During driving, a vehicle usually autonomously changes lanes in order to seek faster vehicle speed and more free driving space. The lane change behavior requires consideration of more complicated surrounding vehicle and road environment information than the following behavior. In order for an autonomous vehicle to have the experience of lane change of a human driver and to be able to freely travel in a road environment, intensive research on lane change behavior is required. And the reasonable lane change decision provides a good basis for implementing the lane change behavior, and has very important significance for ensuring the safety and the comfort of lane change. Currently, a more autonomous lane change decision method is applied as a lane change decision method based on data.

The data-based lane change decision method mainly comprises several typical machine learning algorithms, such as a decision tree, a rough set and a nearest neighbor model. Firstly, factors influencing a lane change decision of a driver in the driving process of the vehicle are extracted from a data set to serve as input features, such as position, speed and other state data of the vehicle and surrounding vehicles, and the input features are preprocessed and divided into training samples and testing samples. And then, selecting a reasonable model structure and a parameter threshold value, and training and optimizing the decision model based on the training sample. And finally, classifying the test samples by adopting the trained model, comparing the classification result with the actual channel changing condition, and verifying the accuracy of the decision model.

Data-based algorithms require a large amount of data for model training and testing, and lane-changing motivations generated by different drivers under different working conditions are very different, so that comprehensive and complete lane-changing data is difficult to collect. Moreover, the algorithm implementation process is complicated, and much resources are required to be occupied in time and space for data processing, model selection and model training, so that the lane change decision-making method is high in cost. In addition, the data-based algorithm cannot adopt simple rules and formula relationships to characterize the input and output relationships, so the calculation process is opaque and cannot be interpreted.

Disclosure of Invention

In view of this, the present invention discloses a lane change decision method and apparatus, so as to implement simple and clear determination process of the entire lane change decision, occupy less resources in time and space, and effectively avoid the collection and training of a large amount of data.

A lane change decision method, comprising:

acquiring motion information of a vehicle, and recording the motion information as first motion information, wherein the first motion information comprises: speed of travel and position relative to adjacent lane lines; acquiring motion information of an environmental vehicle, and recording the motion information as second motion information, wherein the second motion information comprises: the relative distance and relative speed of the environmental vehicle and the vehicle;

dividing a running environment in which the vehicle is located into different areas based on the first motion information and the second motion information, wherein the relative directions of the environmental vehicle and the vehicle in the areas are the same;

determining target vehicles meeting preset requirements in each region, wherein the preset requirements are as follows: the relative distance between the vehicle and the same region is shortest, or the longitudinal collision time between the vehicle and the region is shortest;

determining that the lane change marker bit of each area is in a safe state or an unsafe state according to the relative distance and the relative speed between the target vehicle and the vehicle in each area;

and determining a target lane change decision of the vehicle according to the lane change identification positions of the regions.

Optionally, the dividing, based on the first motion information and the second motion information, a running environment in which the host vehicle is located into different regions, where relative directions of the environmental vehicle and the host vehicle in each of the regions are the same includes:

and dividing the running environment of the vehicle into a front vehicle area, a side front vehicle area, an adjacent vehicle area, a side rear vehicle area and a rear vehicle area based on the first motion information and the second motion information.

Optionally, the method further includes:

marking the environmental vehicles in the front vehicle area as front vehicles, wherein the front vehicles are as follows: the rear of a vehicle center is in the area between the first lane line and the second lane line of former lane at the perpendicular to lane line direction, and the automobile body is all at the environmental vehicle that exceeds first perpendicular line in the direction that is on a parallel with lane line, wherein, first lane line is: the original lane is relative to the left lane line of the vehicle, and the target lane is relative to the right lane line of the vehicle, and the second lane line is as follows: the original lane is relative to the right lane line of the vehicle, and the first vertical line is as follows: a straight line including a head forefront point of the vehicle and perpendicular to the first lane line;

marking the environmental vehicles in the front side vehicle area as front side vehicles, wherein the front side vehicles are as follows: the center of the tail of the vehicle is in a region between the first lane line and a third lane line in the direction perpendicular to the lane line, the vehicle body of the vehicle is an environmental vehicle which exceeds the first vertical line in the direction parallel to the lane line, and the third lane line is a left lane line of the target lane relative to the vehicle;

marking the environmental vehicles in the adjacent vehicle area as adjacent vehicles, wherein the adjacent vehicles are as follows: the vehicle head center or the vehicle tail center is positioned in an area between the first lane line and the third lane line in the direction perpendicular to the lane lines, at least part of the vehicle body is positioned in the environment vehicle between the first vertical line and the second vertical line, and the second vertical line is as follows: a straight line including a rearmost point of a rear of the vehicle and perpendicular to the first lane line;

marking the environmental vehicles in the rear side vehicle area as rear side vehicles, wherein the rear side vehicles are as follows: the center of the vehicle head is in a region between the first lane line and the third lane line in the direction perpendicular to the lane lines, and any part of the vehicle body is an environmental vehicle which does not exceed the second perpendicular line in the direction parallel to the lane lines;

marking the environmental vehicles in the rear vehicle area as rear vehicles, wherein the rear vehicles are as follows: and the center of the vehicle head is in a region between the first lane line and the second lane line in the direction perpendicular to the lane line, and any part of the vehicle body is an environmental vehicle which does not exceed the second vertical line in the direction parallel to the lane line.

Optionally, the lane change flag includes: the system comprises a front vehicle lane changing zone bit, an adjacent vehicle lane changing zone bit, a side front vehicle lane changing zone bit, a side rear vehicle lane changing zone bit and a rear vehicle lane changing zone bit;

the condition that needs to be satisfied when the front vehicle lane change zone bit is in a safe state is as follows: the front vehicle is absent or exists, a first longitudinal relative distance is larger than a set front vehicle distance safety value, and the first longitudinal relative distance is the longitudinal relative distance between the vehicle and the front vehicle;

the adjacent vehicle lane change flag bit needs to meet the following conditions when in a safe state: the adjacent vehicle is absent;

the conditions which need to be met when the lane change zone bit of the front side vehicle is in a safe state are as follows: the front side vehicle is absent or exists, and a second longitudinal relative distance is greater than a set front side vehicle distance safety value, wherein the second longitudinal relative distance is the longitudinal relative distance between the vehicle and the front side vehicle;

the conditions which need to be met when the lane change zone bit of the side rear vehicle is in a safe state are as follows: the side rear vehicle is absent or exists, and a third longitudinal relative distance is greater than a set side rear vehicle distance safety value, wherein the third longitudinal relative distance is the longitudinal relative distance between the vehicle and the side rear vehicle;

the conditions to be met when the rear vehicle lane change zone bit is in a safe state are as follows: and (4) unconditionally.

Optionally, the determining a target lane change decision of the vehicle according to the lane change identification bits of each of the regions specifically includes:

determining the current state of the vehicle, wherein the current state is as follows: waiting for a lane change state, a lane change interruption state or a lane change function ending state;

determining the state jump condition of the vehicle according to the lane change flag bit of each region;

controlling the vehicle to jump from the current state to a target state pointed by the state jump condition, wherein the target state is as follows: the waiting lane changing state, the interruption lane changing state or the lane changing function ending state, wherein the target state and the current state are different states;

wherein the waiting lane changing state is as follows: the vehicle continuously judges whether the lane change identification position of each area is in a safe state or an unsafe state within a first preset time period;

the lane changing state is as follows: starting lane changing operation and driving to a target lane;

the interrupted lane change state is as follows: the vehicle interrupts the lane changing operation and returns to the original lane;

the channel changing function end state is as follows: the vehicle finishes the lane changing operation;

the state jump condition includes:

jumping from the waiting lane changing state to a first state jumping condition of the lane changing state, wherein the first state jumping condition is as follows: the lane change flag bits of each divided area of the driving environment of the vehicle are in a safe state;

and jumping from the waiting lane changing state to a second state jumping condition of the ending state of the lane changing function, wherein the second state jumping condition is as follows: at least one lane change zone bit of each area is in an unsafe state in a second preset time period;

skipping from the lane change state to a third state skipping condition of the interrupted lane change state, wherein the third state skipping condition is: at least one of the front side lane changing zone bit, the adjacent lane changing zone bit and the rear side lane changing zone bit is in an unsafe state;

a fourth state jump condition for jumping from the interrupted lane change state to the end state of the lane change function, wherein the fourth state jump condition is as follows: the vehicle drives back to the center of the original lane;

a fifth state jump condition for jumping from the lane change state to the end state of the lane change function, where the fifth state jump condition is: the host vehicle travels to the center of the target lane.

A lane change decision device comprising:

the device comprises an acquisition unit, a storage unit and a processing unit, wherein the acquisition unit is used for acquiring the motion information of the vehicle and recording the motion information as first motion information, and the first motion information comprises: speed of travel and position relative to adjacent lane lines; acquiring motion information of an environmental vehicle, and recording the motion information as second motion information, wherein the second motion information comprises: the relative distance and relative speed of the environmental vehicle and the vehicle;

a dividing unit configured to divide a running environment in which a host vehicle is located into different regions based on the first motion information and the second motion information, the relative directions of the host vehicle and the environmental vehicles in the respective regions being the same;

a target vehicle determination unit configured to determine a target vehicle that satisfies preset requirements in each of the areas, the preset requirements including: the relative distance between the vehicle and the same region is shortest, or the longitudinal collision time between the vehicle and the region is shortest;

the lane change zone determining unit is used for determining that the lane change zone of each area is in a safe state or an unsafe state according to the relative distance and the relative speed between the target vehicle and the vehicle in each area;

and the lane change decision determining unit is used for determining a target lane change decision of the vehicle according to the lane change identification positions of the areas.

Optionally, the segmentation unit is specifically configured to:

and dividing the running environment of the vehicle into a front vehicle area, a side front vehicle area, an adjacent vehicle area, a side rear vehicle area and a rear vehicle area based on the first motion information and the second motion information.

Optionally, the method further includes:

a preceding vehicle marking unit, configured to mark an environmental vehicle in the preceding vehicle area as a preceding vehicle, where the preceding vehicle is: the rear of a vehicle center is in the area between the first lane line and the second lane line of former lane at the perpendicular to lane line direction, and the automobile body is all at the environmental vehicle that exceeds first perpendicular line in the direction that is on a parallel with lane line, wherein, first lane line is: the original lane is relative to the left lane line of the vehicle, and the target lane is relative to the right lane line of the vehicle, and the second lane line is as follows: the original lane is relative to the right lane line of the vehicle, and the first vertical line is as follows: a straight line including a head forefront point of the vehicle and perpendicular to the first lane line;

a front-side vehicle marking unit, configured to mark an environmental vehicle in the front-side vehicle area as a front-side vehicle, where the front-side vehicle is: the center of the tail of the vehicle is in a region between the first lane line and a third lane line in the direction perpendicular to the lane line, the vehicle body of the vehicle is an environmental vehicle which exceeds the first vertical line in the direction parallel to the lane line, and the third lane line is an outer lane line of the target lane relative to the vehicle;

an adjacent vehicle marking unit, configured to mark an environmental vehicle in the adjacent vehicle area as an adjacent vehicle, where the adjacent vehicle is: the vehicle head center or the vehicle tail center is positioned in an area between the first lane line and the third lane line in the direction perpendicular to the lane lines, at least part of the vehicle body is positioned in the environment vehicle between the first vertical line and the second vertical line, and the second vertical line is as follows: a straight line including a rearmost point of a rear of the vehicle and perpendicular to the first lane line;

a side rear vehicle marking unit, configured to mark an environmental vehicle in the side rear vehicle area as a side rear vehicle, where the side rear vehicle is: the center of the vehicle head is in a region between the first lane line and the third lane line in the direction perpendicular to the lane lines, and any part of the vehicle body is an environmental vehicle which does not exceed the second perpendicular line in the direction parallel to the lane lines;

a rear vehicle marking unit, configured to mark an environmental vehicle in the rear vehicle area as a rear vehicle, where the rear vehicle is: and the center of the vehicle head is in a region between the first lane line and the second lane line in the direction perpendicular to the lane line, and any part of the vehicle body is an environmental vehicle which does not exceed the second vertical line in the direction parallel to the lane line.

Optionally, the lane change flag includes: the system comprises a front vehicle lane changing zone bit, an adjacent vehicle lane changing zone bit, a side front vehicle lane changing zone bit, a side rear vehicle lane changing zone bit and a rear vehicle lane changing zone bit;

the condition that needs to be satisfied when the front vehicle lane change zone bit is in a safe state is as follows: the front vehicle is absent or exists, a first longitudinal relative distance is larger than a set front vehicle distance safety value, and the first longitudinal relative distance is the longitudinal relative distance between the vehicle and the front vehicle;

the adjacent vehicle lane change flag bit needs to meet the following conditions when in a safe state: the adjacent vehicle is absent;

the conditions which need to be met when the lane change zone bit of the front side vehicle is in a safe state are as follows: the front side vehicle is absent or exists, and a second longitudinal relative distance is greater than a set front side vehicle distance safety value, wherein the second longitudinal relative distance is the longitudinal relative distance between the vehicle and the front side vehicle;

the conditions which need to be met when the lane change zone bit of the side rear vehicle is in a safe state are as follows: the side rear vehicle is absent or exists, and a third longitudinal relative distance is greater than a set side rear vehicle distance safety value, wherein the third longitudinal relative distance is the longitudinal relative distance between the vehicle and the side rear vehicle;

the conditions to be met when the rear vehicle lane change zone bit is in a safe state are as follows: and (4) unconditionally.

Optionally, the lane change decision determining unit is specifically configured to:

determining the current state of the vehicle, wherein the current state is as follows: waiting for a lane change state, a lane change interruption state or a lane change function ending state;

determining the state jump condition of the vehicle according to the lane change flag bit of each region;

controlling the vehicle to jump from the current state to a target state pointed by the state jump condition, wherein the target state is as follows: the waiting lane changing state, the interruption lane changing state or the lane changing function ending state, wherein the target state and the current state are different states;

wherein the waiting lane changing state is as follows: the vehicle continuously judges whether the lane change identification position of each area is in a safe state or an unsafe state within a first preset time period;

the lane changing state is as follows: starting lane changing operation and driving to a target lane;

the interrupted lane change state is as follows: the vehicle interrupts the lane changing operation and returns to the original lane;

the channel changing function end state is as follows: the vehicle finishes the lane changing operation;

the state jump condition includes:

jumping from the waiting lane changing state to a first state jumping condition of the lane changing state, wherein the first state jumping condition is as follows: the lane change flag bits of each divided area of the driving environment of the vehicle are in a safe state;

and jumping from the waiting lane changing state to a second state jumping condition of the ending state of the lane changing function, wherein the second state jumping condition is as follows: at least one lane change zone bit of each area is in an unsafe state in a second preset time period;

skipping from the lane change state to a third state skipping condition of the interrupted lane change state, wherein the third state skipping condition is: at least one of the front side lane changing zone bit, the adjacent lane changing zone bit and the rear side lane changing zone bit is in an unsafe state;

a fourth state jump condition for jumping from the interrupted lane change state to the end state of the lane change function, wherein the fourth state jump condition is as follows: the vehicle drives back to the center of the original lane;

a fifth state jump condition for jumping from the lane change state to the end state of the lane change function, where the fifth state jump condition is: the host vehicle travels to the center of the target lane.

According to the technical scheme, the driving environment where the vehicle is located is divided into different areas based on the acquired first motion information of the vehicle and the acquired second motion information of the environmental vehicle, the relative directions of the environmental vehicle and the vehicle in each area are the same, the target vehicle with the shortest relative distance to the vehicle or the shortest longitudinal collision time with the vehicle in each area is determined, and whether the lane change flag bit of each area is in a safe state or an unsafe state is determined based on the relative distance and the relative speed between the target vehicle and the vehicle in each area, so that the target lane change decision is determined according to the lane change flag bit of each area. The method and the device determine the final target lane change decision by dividing the running environment of the vehicle into different areas and determining whether target vehicles which have potential threats to the normal running of the vehicle exist in each area. The whole lane change decision determination process is simple and clear, less resources need to be occupied in time and space, and collection and training of a large amount of data are effectively avoided.

Drawings

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

FIG. 1 is a flow chart of a lane change decision method according to an embodiment of the present invention;

fig. 2 is a schematic view of region segmentation of a driving environment of a vehicle according to an embodiment of the present invention;

FIG. 3 is a logic diagram of a lane change policy according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a lane change decision device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.

The embodiment of the invention discloses a lane change decision method and a lane change decision device, wherein the driving environment of a vehicle is divided into different areas based on acquired first motion information of the vehicle and second motion information of an environmental vehicle, the relative directions of the environmental vehicle and the vehicle in each area are the same, a target vehicle with the shortest relative distance to the vehicle or the shortest longitudinal collision time with the vehicle in each area is determined, and the lane change mark bit of each area is determined to be in a safe state or an unsafe state based on the relative distance and the relative speed between the target vehicle and the vehicle in each area, so that a target lane change decision is determined according to the lane change mark bit of each area. The method and the device determine the final target lane change decision by dividing the running environment of the vehicle into different areas and determining whether target vehicles which have potential threats to the normal running of the vehicle exist in each area. The whole lane change decision determination process is simple and clear, less resources need to be occupied in time and space, and collection and training of a large amount of data are effectively avoided.

Referring to fig. 1, a flow chart of a lane change decision method disclosed in an embodiment of the present invention includes the steps of:

s101, acquiring motion information of the vehicle, and recording the motion information as first motion information and motion information of the environmental vehicle as second motion information;

it should be noted that the "first" of the "first motion information" and the "second" of the "second motion information" in this step are only used to distinguish the motion information of the host vehicle from the motion information of the environmental vehicle, and do not require or imply any such actual relationship or order between the motion information of the host vehicle and the motion information of the environmental vehicle.

Specifically, the first motion information of the vehicle includes: speed of travel and position relative to adjacent lane lines. In practical application, the running speed of the vehicle can be obtained by using a speed sensor mounted on the vehicle, and the position of the vehicle relative to the adjacent lane line can be obtained by using a camera mounted on the vehicle.

The environmental vehicle in the present embodiment refers to a vehicle in a running environment of the vehicle, and the second motion information of the environmental vehicle includes: the relative distance and relative speed of the ambient vehicle from the host vehicle.

In practical application, the camera and the radar installed on the vehicle can be used for acquiring the motion information of the environmental vehicle, and specific reference can be made to a mature scheme in the prior art, which is not repeated herein.

Step S102, dividing the running environment of the vehicle into different areas based on the first motion information and the second motion information, wherein the relative directions of the environmental vehicle and the vehicle in each area are the same;

specifically, in practical applications, the method may divide a running environment in which the host vehicle is located into five areas, namely a front vehicle area, a side front vehicle area, an adjacent vehicle area, a side rear vehicle area and a rear vehicle area, based on the first motion information and the second motion information, where the relative directions of the environmental vehicles and the host vehicle in the respective areas are the same, and includes: environmental vehicles in the front vehicle area are all positioned in front of the vehicle, and the environmental vehicles in the front vehicle area are recorded as front vehicles; the environmental vehicles in the front side vehicle area are all positioned in front of the vehicle, and the environmental vehicles in the front side vehicle area are recorded as front side vehicles; the environmental vehicles in the adjacent vehicle areas are all located at the adjacent positions of the vehicle, and the environmental vehicles in the adjacent vehicle areas are recorded as adjacent vehicles; the environmental vehicles in the rear side vehicle areas are all positioned behind the vehicle, and the environmental vehicles in the rear side vehicle areas are recorded as rear side vehicles; the environmental vehicles in the rear vehicle area are all located behind the vehicle, and the environmental vehicles in the rear vehicle area are recorded as rear vehicles.

It should be particularly noted that, in practical applications, based on the first motion information and the second motion information, the driving environment of the vehicle includes, but is not limited to, five regions divided into a front vehicle region, a side front vehicle region, an adjacent vehicle region, a side rear vehicle region and a rear vehicle region, and the driving environment of the vehicle may be further subdivided, for example, the side front vehicle region may be further divided into a far-end side front vehicle region and a near-end side front vehicle region according to the distance in the longitudinal direction; or combining two of the five divided front vehicle areas, side front vehicle areas, adjacent vehicle areas, side rear vehicle areas and rear vehicle areas, for example, combining the adjacent vehicle areas to the side front vehicle areas or the side rear vehicle areas.

The area division of the driving environment of the vehicle may be determined according to actual needs, and the present invention is not limited herein.

Step S103, determining target vehicles meeting preset requirements in each area;

wherein the preset requirements include: the relative distance to the own vehicle is shortest in the same region, or the longitudinal collision time with the own vehicle is shortest.

Specifically, (1) when the preset requirement is: and when the relative distance between the vehicle and all the environmental vehicles in the same area is shortest, comparing the magnitude relation between the relative distances between all the environmental vehicles in the same area and the vehicle, and selecting the environmental vehicle with the shortest relative distance as the target vehicle in the area.

(2) When the preset requirement is as follows: and when the longitudinal collision time with the vehicle in the same region is shortest, calculating the longitudinal collision time of each environmental vehicle according to the longitudinal relative distance and the longitudinal relative speed between each environmental vehicle and the vehicle in the same region.

When the longitudinal collision time of all the environmental vehicles and the vehicle is obtained through calculation in the same area, the environmental vehicle with the shortest longitudinal collision time can be selected as the target vehicle in the area.

Wherein, in practical application, can acquire according to the relative distance of environment vehicle and this vehicle: longitudinal relative distance and transverse relative distance; similarly, the following can be obtained according to the relative speed of the environment vehicle and the vehicle: the specific calculation process of the longitudinal relative velocity and the transverse relative velocity can be referred to the existing mature scheme, and is not described herein again.

Step S104, determining that the lane change flag bit of each area is in a safe state or an unsafe state according to the relative distance and the relative speed between the target vehicle and the vehicle in each area;

specifically, according to the relative distance and the relative speed between the target vehicle and the vehicle in each area, whether the vehicle is in danger of colliding with the target vehicle in the lane changing process can be determined, namely, the vehicle is in potential threat to normal running of the vehicle, and when the vehicle is determined to be in danger of colliding with a certain target vehicle in the lane changing process, the lane changing mark position of the area where the target vehicle with the collision risk belongs is determined to be in an unsafe state; on the contrary, when it is determined that the vehicle is not in danger of colliding with the target vehicle in the lane changing process, the lane changing flag of the area where the target vehicle without the collision risk belongs is determined to be in a safe state.

And S105, determining a target lane change decision of the vehicle according to the lane change identification positions of all the areas.

Specifically, after determining that the lane change identification bits of each area are in a safe state or an unsafe state, a final target lane change decision can be determined.

In summary, the lane change decision method disclosed by the present invention divides the driving environment of the vehicle into different areas based on the acquired first motion information of the vehicle and the second motion information of the environmental vehicle, determines the target vehicle in each area, which has the shortest relative distance to the vehicle or the shortest longitudinal collision time with the vehicle, and determines whether the lane change flag bit of each area is in a safe state or an unsafe state based on the relative distance and the relative speed between the target vehicle and the vehicle in each area, so as to determine the target lane change decision according to the lane change flag bit of each area. The method and the device determine the final target lane change decision by dividing the running environment of the vehicle into different areas and determining whether target vehicles which have potential threats to the normal running of the vehicle exist in each area. The whole lane change decision determination process is simple and clear, less resources need to be occupied in time and space, and collection and training of a large amount of data are effectively avoided.

As is apparent from the above description, the running environment of the host vehicle can be divided into five regions, i.e., a front vehicle region, a side front vehicle region, an adjacent vehicle region, a side rear vehicle region, and a rear vehicle region, based on the first motion information and the second motion information, and therefore, the environmental vehicle of the host vehicle can be divided into: for convenience of understanding, referring to fig. 2, a schematic diagram of region segmentation of a driving environment where a vehicle is located according to an embodiment of the present invention is disclosed, where the region segmentation process specifically includes:

taking a Lane change to the left as an example, a Lane where the vehicle is located at the beginning of the Lane change is an original Lane, a Lane reached at the end of the Lane change is a target Lane, the first Lane Line Lane 0 is a left Lane of the original Lane relative to the vehicle and is also a right Lane of the target Lane relative to the vehicle, the second Lane Line Lane 1 is a right Lane of the original Lane relative to the vehicle, the third Lane Line Lane2 is an outer Lane of the target Lane relative to the vehicle, specifically, when the target Lane is on the left side, the third Lane Line Lane2 is a left Lane, when the target Lane is on the right side, the third Lane Line Lane2 is a right Lane, the first vertical Line 1 is a straight Line which contains the head of the vehicle at the forefront point and is perpendicular to the first Lane Line Lane 0, and the second vertical Line 2 is a straight Line which contains the tail end of the vehicle at the last point and is perpendicular to the first Lane Line Lane 0.

The respective types included in the surrounding vehicle of the own vehicle are defined as follows:

defining: the direction perpendicular to the lane lines is the transverse direction, and the direction parallel to the lane lines is the longitudinal direction.

The front vehicle is as follows: the vehicle rear center is in the area between the first Lane Line Lane 0 and the second Lane Line Lane 1 in the lateral direction, and the vehicle bodies are all in the environment vehicle beyond the first vertical Line 1 in the longitudinal direction.

The side front vehicle is: the vehicle rear center is in the area laterally between the first Lane Line Lane 0 and the third Lane Line Lane2, and the vehicle bodies are all environmental vehicles that exceed the first vertical Line 1 in the longitudinal direction.

Adjacent vehicle: the center of the vehicle head or the center of the vehicle tail is located in a region between the first Lane Line Lane 0 and the third Lane Line Lane2 in the transverse direction, and at least part of the vehicle body is located in the environment vehicle between the first vertical Line 1 and the second vertical Line 2.

Side rear vehicle: the center of the vehicle head is in the area between the first Lane Line Lane 0 and the third Lane Line Lane2 in the lateral direction, and any portion of the vehicle body does not exceed the ambient vehicle of the second vertical Line 2 in the longitudinal direction.

Rear vehicle: the vehicle head center is in the area between the first Lane Line Lane 0 and the second Lane Line Lane 1 in the lateral direction, and any portion of the vehicle body does not exceed the ambient vehicle of the second vertical Line 2 in the longitudinal direction.

The process of determining whether the lane change flag of each area is in the safe state or the unsafe state according to the relative distance and the relative speed between the target vehicle and the host vehicle in each area in step S104 will be described with reference to fig. 2, specifically as follows:

let L1 be the longitudinal relative distance between the subject vehicle and the preceding vehicle, noted as the first longitudinal relative distance; l2 is the longitudinal relative distance between the vehicle and the front side vehicle, and is recorded as a second longitudinal relative distance; l3 is the longitudinal relative distance between the vehicle and the side rear vehicle, and is denoted as the third longitudinal relative distance.

(1) The conditions which need to be met when the lane change zone bit of the front vehicle is in a safe state are as follows: the vehicle has no front vehicle or has a front vehicle, and the first longitudinal relative distance L1 is greater than a set front vehicle distance safety value;

the conditions which need to be met when the lane change zone bit of the front vehicle is in an unsafe state are as follows: the front vehicle exists and the first longitudinal relative distance L1 is not more than the set front vehicle distance safety value.

(2) The conditions which need to be met when the adjacent vehicle lane change zone bit is in a safe state are as follows: there is no adjacent vehicle.

(3) The conditions to be met when the lane change zone bit of the front side vehicle is in a safe state are as follows: the front side vehicle is not arranged, or the front side vehicle is arranged, and the second longitudinal relative distance L2 is greater than the set front side vehicle distance safety value;

the conditions to be met when the lane change zone bit of the front side vehicle is in an unsafe state are as follows: there is a side front vehicle and the second longitudinal relative distance L2 is not greater than the set side front vehicle distance safety value.

(4) The conditions to be met when the lane change zone bit of the side rear vehicle is in a safe state are as follows: the vehicle without side rear vehicle or with side rear vehicle and the third longitudinal relative distance L3 is larger than the set side rear vehicle distance safety value.

(5) The conditions to be met when the lane change zone bit of the rear vehicle is in a safe state are as follows: and (4) unconditionally.

It should be noted that the distance safety values of the respective regions include: the front vehicle distance safety value, the side front vehicle distance safety value and the side rear vehicle distance safety value are calculated according to the relative speed, the relative distance and the respective acceleration of the target vehicle and the vehicle in each area.

It should be noted that, in practical applications, the vehicle may be in four states during lane changing, including: waiting for a lane changing state, an interruption lane changing state and a lane changing function ending state.

Specifically, the method comprises the following steps:

the waiting lane change state is as follows: the vehicle continuously judges whether the lane change identification positions of all the areas are in a safe state or an unsafe state within a first preset time period.

The lane change state is as follows: the vehicle starts a lane change operation and travels to a target lane.

The interrupted lane change state is as follows: the vehicle stops lane changing operation and returns to the original lane.

The lane changing function ending state is as follows: the vehicle ends the lane change operation.

In practical application, the vehicle jumps among four states, the state jump condition among the states is a lane change strategy logic diagram shown in fig. 3, and when a certain state jump condition is met, the target lane change decision indicates that the vehicle jumps from the current state to the target state pointed by the state jump condition.

The respective state jump conditions are as follows:

the first state transition condition C1 for transitioning from the wait state to the lane change state is: the lane change flag bits of each divided area of the driving environment of the vehicle are all in a safe state.

The second state transition condition C2 for transitioning from the wait state to the end state of the lane change function is: at least one of the lane change flag bits in each area is in an unsafe state in a second preset time period.

The third state transition condition C3 for transitioning from the zapping state to the interrupted zapping state is: at least one of the front side lane changing zone bit, the adjacent lane changing zone bit and the rear side lane changing zone bit is in an unsafe state.

The fourth state transition condition C4 for transitioning from the interrupted zapping state to the zapping function end state is: the vehicle drives back to the center of the original lane.

The fifth state transition condition C5 for transitioning from the zapping state to the zapping function end state is: the host vehicle travels to the center of the target lane.

Therefore, to further optimize the above embodiment, step S105 may specifically include:

determining the current state of the vehicle, wherein the current state is as follows: waiting for a lane change state, a lane change interruption state or a lane change function ending state;

determining the state jump condition of the vehicle according to the lane change flag bits of each area;

controlling the vehicle to jump from the current state to a target state pointed by the state jump condition, wherein the target state is as follows: waiting for a lane change state, an interruption lane change state or a lane change function ending state, wherein the target state is different from the current state.

In summary, the lane change decision method disclosed by the present invention divides the driving environment of the vehicle into different areas based on the acquired first motion information of the vehicle and the second motion information of the environmental vehicle, determines the target vehicle in each area, which has the shortest relative distance to the vehicle or the shortest longitudinal collision time with the vehicle, and determines whether the lane change flag bit of each area is in a safe state or an unsafe state based on the relative distance and the relative speed between the target vehicle and the vehicle in each area, so as to determine the target lane change decision according to the lane change flag bit of each area. The method and the device determine the final target lane change decision by dividing the running environment of the vehicle into different areas and determining whether target vehicles which have potential threats to the normal running of the vehicle exist in each area. The whole lane change decision determination process is simple and clear, less resources need to be occupied in time and space, and collection and training of a large amount of data are effectively avoided.

Corresponding to the embodiment of the method, the invention also discloses a channel change decision device.

Referring to fig. 4, a schematic structural diagram of a lane change decision device disclosed in an embodiment of the present invention includes:

an obtaining unit 201, configured to obtain motion information of a vehicle, and record the motion information as first motion information, and motion information of an environmental vehicle, and record the motion information as second motion information;

specifically, the first motion information of the vehicle includes: speed of travel and position relative to adjacent lane lines. In practical application, the running speed of the vehicle can be obtained by using a speed sensor mounted on the vehicle, and the position of the vehicle relative to the adjacent lane line can be obtained by using a camera mounted on the vehicle.

The environmental vehicle in the present embodiment refers to a vehicle in a running environment of the vehicle, and the second motion information of the environmental vehicle includes: the relative distance and relative speed of the ambient vehicle from the host vehicle.

In practical application, the camera and the radar installed on the vehicle can be used for acquiring the motion information of the environmental vehicle, and specific reference can be made to a mature scheme in the prior art, which is not repeated herein.

A dividing unit 202 configured to divide a running environment in which the host vehicle is located into different regions based on the first motion information and the second motion information, where a relative direction of the host vehicle to the ambient vehicle in each region is the same;

specifically, in practical applications, the method may divide a running environment in which the host vehicle is located into five areas, namely a front vehicle area, a side front vehicle area, an adjacent vehicle area, a side rear vehicle area and a rear vehicle area, based on the first motion information and the second motion information, where the relative directions of the environmental vehicles and the host vehicle in the respective areas are the same, and includes: environmental vehicles in the front vehicle area are all positioned in front of the vehicle, and the environmental vehicles in the front vehicle area are recorded as front vehicles; the environmental vehicles in the front side vehicle area are all positioned in front of the vehicle, and the environmental vehicles in the front side vehicle area are recorded as front side vehicles; the environmental vehicles in the adjacent vehicle areas are all located at the adjacent positions of the vehicle, and the environmental vehicles in the adjacent vehicle areas are recorded as adjacent vehicles; the environmental vehicles in the rear side vehicle areas are all positioned behind the vehicle, and the environmental vehicles in the rear side vehicle areas are recorded as rear side vehicles; the environmental vehicles in the rear vehicle area are all located behind the vehicle, and the environmental vehicles in the rear vehicle area are recorded as rear vehicles.

It should be particularly noted that, in practical applications, based on the first motion information and the second motion information, the driving environment of the vehicle includes, but is not limited to, five regions divided into a front vehicle region, a side front vehicle region, an adjacent vehicle region, a side rear vehicle region and a rear vehicle region, and the driving environment of the vehicle may be further subdivided, for example, the side front vehicle region may be further divided into a far-end side front vehicle region and a near-end side front vehicle region according to the distance in the longitudinal direction; or combining two of the five divided front vehicle areas, side front vehicle areas, adjacent vehicle areas, side rear vehicle areas and rear vehicle areas, for example, combining the adjacent vehicle areas to the side front vehicle areas or the side rear vehicle areas.

The area division of the driving environment of the vehicle may be determined according to actual needs, and the present invention is not limited herein.

A target vehicle determination unit 203 for determining target vehicles satisfying preset requirements in the respective areas;

wherein the preset requirements include: the relative distance to the own vehicle is shortest in the same region, or the longitudinal collision time with the own vehicle is shortest.

Specifically, (1) when the preset requirement is: and when the relative distance between the vehicle and all the environmental vehicles in the same area is shortest, comparing the magnitude relation between the relative distances between all the environmental vehicles in the same area and the vehicle, and selecting the environmental vehicle with the shortest relative distance as the target vehicle in the area.

(2) When the preset requirement is as follows: and when the longitudinal collision time with the vehicle in the same region is shortest, calculating the longitudinal collision time of each environmental vehicle according to the longitudinal relative distance and the longitudinal relative speed between each environmental vehicle and the vehicle in the same region.

When the longitudinal collision time of all the environmental vehicles and the vehicle is obtained through calculation in the same area, the environmental vehicle with the shortest longitudinal collision time can be selected as the target vehicle in the area.

Wherein, in practical application, can acquire according to the relative distance of environment vehicle and this vehicle: longitudinal relative distance and transverse relative distance; similarly, the following can be obtained according to the relative speed of the environment vehicle and the vehicle: the specific calculation process of the longitudinal relative velocity and the transverse relative velocity can be referred to the existing mature scheme, and is not described herein again.

A lane change flag determining unit 204, configured to determine that the lane change flag of each area is in a safe state or an unsafe state according to a relative distance and a relative speed between the target vehicle and the host vehicle in each area;

specifically, according to the relative distance and the relative speed between the target vehicle and the vehicle in each area, whether the vehicle is in danger of colliding with the target vehicle in the lane changing process can be determined, namely, the vehicle is in potential threat to normal running of the vehicle, and when the vehicle is determined to be in danger of colliding with a certain target vehicle in the lane changing process, the lane changing mark position of the area where the target vehicle with the collision risk belongs is determined to be in an unsafe state; on the contrary, when it is determined that the vehicle is not in danger of colliding with the target vehicle in the lane changing process, the lane changing flag of the area where the target vehicle without the collision risk belongs is determined to be in a safe state.

And a lane change decision determining unit 205, configured to determine a target lane change decision of the vehicle according to the lane change identification bits of the respective areas.

Specifically, after determining that the lane change identification bits of each area are in a safe state or an unsafe state, a final target lane change decision can be determined.

In summary, the lane change decision device disclosed by the present invention divides the running environment of the host vehicle into different areas based on the acquired first motion information of the host vehicle and the acquired second motion information of the environmental vehicle, determines the target vehicle in each area, which has the shortest relative distance to the host vehicle or the shortest longitudinal collision time with the host vehicle, and determines whether the lane change flag bit of each area is in a safe state or an unsafe state based on the relative distance and the relative speed between the target vehicle and the host vehicle in each area, so as to determine the target lane change decision according to the lane change flag bit of each area. The method and the device determine the final target lane change decision by dividing the running environment of the vehicle into different areas and determining whether target vehicles which have potential threats to the normal running of the vehicle exist in each area. The whole lane change decision determination process is simple and clear, less resources need to be occupied in time and space, and collection and training of a large amount of data are effectively avoided.

As is apparent from the above description, the running environment of the host vehicle can be divided into five regions, i.e., a front vehicle region, a side front vehicle region, an adjacent vehicle region, a side rear vehicle region, and a rear vehicle region, based on the first motion information and the second motion information, and therefore, the environmental vehicle of the host vehicle can be divided into: the front vehicle, the side front vehicle, the adjacent vehicle, the side rear vehicle and the rear vehicle.

Therefore, the segmentation unit 202 may specifically be configured to:

dividing the running environment of the vehicle into a front vehicle area, a side front vehicle area, an adjacent vehicle area, a side rear vehicle area and a rear vehicle area based on the first motion information and the second motion information;

the environment vehicles in the front vehicle area are all located in front of the vehicle, the environment vehicles in the side front vehicle area are all located in side front of the vehicle, the environment vehicles in the adjacent vehicle area are all located at adjacent positions of the vehicle, the environment vehicles in the side rear vehicle area are all located at side rear of the vehicle, and the environment vehicles in the rear vehicle area are all located at rear of the vehicle.

In order to further optimize the above embodiment, the present invention further marks the front vehicle, the side front vehicle, the adjacent vehicle, the side rear vehicle, and the rear vehicle, respectively, as follows:

the front vehicle marking unit is used for marking the environmental vehicle in the front vehicle area as a front vehicle, and the front vehicle is as follows: the center of the tail of the vehicle is in a region between a first lane line and a second lane line of the original lane in the direction perpendicular to the lane line, and the vehicle body of the vehicle is all the environmental vehicles which exceed the first vertical line in the direction parallel to the lane line.

Wherein, first lane line is: the original lane is relative to the left lane line of the vehicle, and the target lane is relative to the right lane line of the vehicle, and the second lane line is as follows: the original lane is relative to the right lane line of the vehicle, and the first vertical line is as follows: the straight line which contains the head foremost point of the vehicle and is vertical to the first lane line.

A front-side vehicle marking unit for marking the environmental vehicle in the front-side vehicle area as a front-side vehicle, the front-side vehicle being: the center of the tail of the vehicle is in an area between a first lane line and a third lane line in the direction perpendicular to the lane lines, the vehicle body is an environmental vehicle which is parallel to the lane lines and exceeds the first vertical line, the third lane line is an outer lane line of the target lane relative to the vehicle, when the target lane is on the left side, the third lane line is a left lane line, and when the target lane is on the right side, the third lane line is a right lane line.

The adjacent vehicle marking unit is used for marking the environmental vehicle in the adjacent vehicle area as an adjacent vehicle, and the adjacent vehicle is as follows: the vehicle head center or the vehicle tail center is in an area between a first lane line and a third lane line in the direction perpendicular to the lane lines, at least part of the vehicle bodies are in the environment vehicle between a first vertical line and a second vertical line, and the second vertical line is as follows: the straight line which comprises the last tail point of the vehicle and is vertical to the first lane line.

A side rear vehicle marking unit for marking the environmental vehicle in the side rear vehicle area as a side rear vehicle, the side rear vehicle being: the center of the vehicle head is positioned in a region between the first lane line and the third lane line in the direction vertical to the lane lines, and any part of the vehicle body is positioned in an environment vehicle which is parallel to the lane lines and does not exceed the second vertical line;

the rear vehicle marking unit is used for marking the environmental vehicle in the rear vehicle area as a rear vehicle, and the rear vehicle is as follows: and the center of the vehicle head is in a region between the first lane line and the second lane line in the direction perpendicular to the lane line, and any part of the vehicle body is in an environment vehicle which is parallel to the lane line and does not exceed the second perpendicular line.

It should be noted that, in this embodiment, reference may be made to corresponding parts of the method embodiment for the process of marking a front vehicle, a side front vehicle, an adjacent vehicle, a side rear vehicle, and a rear vehicle, and details are not described here.

In practical application, the lane change identification bit comprises: the system comprises a front vehicle lane changing zone bit, an adjacent vehicle lane changing zone bit, a side front vehicle lane changing zone bit, a side rear vehicle lane changing zone bit and a rear vehicle lane changing zone bit;

the condition that needs to be satisfied when the front vehicle lane change zone bit is in a safe state is as follows: the vehicle is not provided with a front vehicle or is provided with a front vehicle, the first longitudinal relative distance is greater than a set front vehicle distance safety value, and the first longitudinal relative distance is the longitudinal relative distance between the vehicle and the front vehicle;

the conditions which need to be met when the adjacent vehicle lane change zone bit is in a safe state are as follows: no adjacent vehicle exists;

the conditions to be met when the lane change zone bit of the front side vehicle is in a safe state are as follows: the vehicle is provided with a front side vehicle, or the vehicle is provided with a front side vehicle, and the second longitudinal relative distance is greater than the set safety value of the distance between the front side vehicle, and the second longitudinal relative distance is the longitudinal relative distance between the vehicle and the front side vehicle;

the conditions to be met when the lane change zone bit of the side rear vehicle is in a safe state are as follows: the third longitudinal relative distance is the longitudinal relative distance between the vehicle and the side rear vehicle;

the conditions to be met when the lane change zone bit of the rear vehicle is in a safe state are as follows: and (4) unconditionally.

It should be noted that, in practical applications, the vehicle may be in four states during lane changing, including: waiting for a lane changing state, an interruption lane changing state and a lane changing function ending state.

Specifically, the method comprises the following steps:

the waiting lane change state is as follows: the vehicle continuously judges whether the lane change identification positions of all the areas are in a safe state or an unsafe state within a first preset time period.

The lane change state is as follows: the vehicle starts a lane change operation and travels to a target lane.

The interrupted lane change state is as follows: the vehicle stops lane changing operation and returns to the original lane.

The lane changing function ending state is as follows: the vehicle ends the lane change operation.

In practical application, the vehicle jumps among four states, the state jump condition among the states is a lane change strategy logic diagram shown in fig. 3, and when a certain state jump condition is met, the target lane change decision indicates that the vehicle jumps from the current state to the target state pointed by the state jump condition.

The respective state jump conditions are as follows:

the first state transition condition C1 for transitioning from the wait state to the lane change state is: the lane change flag bits of each divided area of the driving environment of the vehicle are all in a safe state.

The second state transition condition C2 for transitioning from the wait state to the end state of the lane change function is: at least one of the lane change flag bits in each area is in an unsafe state in a second preset time period.

The third state transition condition C3 for transitioning from the zapping state to the interrupted zapping state is: at least one of the front side lane changing zone bit, the adjacent lane changing zone bit and the rear side lane changing zone bit is in an unsafe state.

The fourth state transition condition C4 for transitioning from the interrupted zapping state to the zapping function end state is: the vehicle drives back to the center of the original lane.

The fifth state transition condition C5 for transitioning from the zapping state to the zapping function end state is: the host vehicle travels to the center of the target lane.

Therefore, to further optimize the above-described embodiments,

the lane change decision determining unit 205 is specifically configured to:

determining the current state of the vehicle, wherein the current state is as follows: waiting for a lane change state, a lane change interruption state or a lane change function ending state;

determining the state jump condition of the vehicle according to the lane change flag bits of each area;

controlling the vehicle to jump from the current state to a target state pointed by the state jump condition, wherein the target state is as follows: waiting for a lane change state, an interruption lane change state or a lane change function ending state, wherein the target state is different from the current state.

In summary, the lane change decision device disclosed by the present invention divides the running environment of the host vehicle into different areas based on the acquired first motion information of the host vehicle and the acquired second motion information of the environmental vehicle, determines the target vehicle in each area, which has the shortest relative distance to the host vehicle or the shortest longitudinal collision time with the host vehicle, and determines whether the lane change flag bit of each area is in a safe state or an unsafe state based on the relative distance and the relative speed between the target vehicle and the host vehicle in each area, so as to determine the target lane change decision according to the lane change flag bit of each area. The method and the device determine the final target lane change decision by dividing the running environment of the vehicle into different areas and determining whether target vehicles which have potential threats to the normal running of the vehicle exist in each area. The whole lane change decision determination process is simple and clear, less resources need to be occupied in time and space, and collection and training of a large amount of data are effectively avoided.

It should be noted that, for the specific working principle of each component in the device embodiment, reference is made to the corresponding part of the method embodiment, which is not described herein again.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the present specification, each embodiment is described in a progressive manner, and the emphasis of each embodiment is on the difference from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. A lane change decision method, comprising:

acquiring motion information of a vehicle, and recording the motion information as first motion information, wherein the first motion information comprises: speed of travel and position relative to adjacent lane lines; acquiring motion information of an environmental vehicle, and recording the motion information as second motion information, wherein the second motion information comprises: the relative distance and relative speed of the environmental vehicle and the vehicle;

dividing a running environment in which the vehicle is located into different areas based on the first motion information and the second motion information, wherein the relative directions of the environmental vehicle and the vehicle in the areas are the same;

determining target vehicles meeting preset requirements in each area, wherein the preset requirements comprise: the relative distance between the vehicle and the same region is shortest, or the longitudinal collision time between the vehicle and the region is shortest;

determining that the lane change zone of each area is in a safe state or an unsafe state according to the relative distance and the relative speed between the target vehicle and the vehicle in each area, wherein the lane change zone is used for representing that the area to which the target vehicle belongs is in the unsafe state with collision risk or the area to which the target vehicle belongs is in the safe state without collision risk;

determining a target lane change decision of the vehicle according to the lane change identification positions of the regions;

the dividing, based on the first motion information and the second motion information, a running environment in which a host vehicle is located into different areas, where relative directions of the environmental vehicle and the host vehicle in each area are the same, specifically includes:

dividing the running environment of the vehicle into a front vehicle area, a side front vehicle area, an adjacent vehicle area, a side rear vehicle area and a rear vehicle area based on the first motion information and the second motion information;

marking the environmental vehicles in the front vehicle area as front vehicles, wherein the front vehicles are as follows: the rear of a vehicle center is in the area between the first lane line and the second lane line of former lane at the perpendicular to lane line direction, and the automobile body is all at the environmental vehicle that exceeds first perpendicular line in the direction that is on a parallel with lane line, wherein, first lane line is: the original lane is relative to the left lane line of the vehicle, and the target lane is relative to the right lane line of the vehicle, and the second lane line is as follows: the original lane is relative to the right lane line of the vehicle, and the first vertical line is as follows: a straight line including a head forefront point of the vehicle and perpendicular to the first lane line;

marking the environmental vehicles in the front side vehicle area as front side vehicles, wherein the front side vehicles are as follows: the center of the tail of the vehicle is in a region between the first lane line and a third lane line in the direction perpendicular to the lane line, the vehicle body of the vehicle is an environmental vehicle which exceeds the first vertical line in the direction parallel to the lane line, and the third lane line is an outer lane line of the target lane relative to the vehicle;

marking the environmental vehicles in the adjacent vehicle area as adjacent vehicles, wherein the adjacent vehicles are as follows: the vehicle head center or the vehicle tail center is positioned in an area between the first lane line and the third lane line in the direction perpendicular to the lane lines, at least part of the vehicle body is positioned in the environment vehicle between the first vertical line and the second vertical line, and the second vertical line is as follows: a straight line including a rearmost point of a rear of the vehicle and perpendicular to the first lane line;

marking the environmental vehicles in the rear side vehicle area as rear side vehicles, wherein the rear side vehicles are as follows: the center of the vehicle head is in a region between the first lane line and the third lane line in the direction perpendicular to the lane lines, and any part of the vehicle body is an environmental vehicle which does not exceed the second perpendicular line in the direction parallel to the lane lines;

marking the environmental vehicles in the rear vehicle area as rear vehicles, wherein the rear vehicles are as follows: and the center of the vehicle head is in a region between the first lane line and the second lane line in the direction perpendicular to the lane line, and any part of the vehicle body is an environmental vehicle which does not exceed the second vertical line in the direction parallel to the lane line.

2. The lane change decision method of claim 1, wherein the lane change flag comprises: the system comprises a front vehicle lane changing zone bit, an adjacent vehicle lane changing zone bit, a side front vehicle lane changing zone bit, a side rear vehicle lane changing zone bit and a rear vehicle lane changing zone bit;

the condition that needs to be satisfied when the front vehicle lane change zone bit is in a safe state is as follows: the front vehicle is absent or exists, a first longitudinal relative distance is larger than a set front vehicle distance safety value, and the first longitudinal relative distance is the longitudinal relative distance between the vehicle and the front vehicle;

the adjacent vehicle lane change flag bit needs to meet the following conditions when in a safe state: the adjacent vehicle is absent;

the conditions which need to be met when the lane change zone bit of the front side vehicle is in a safe state are as follows: the front side vehicle is absent or exists, and a second longitudinal relative distance is greater than a set front side vehicle distance safety value, wherein the second longitudinal relative distance is the longitudinal relative distance between the vehicle and the front side vehicle;

the conditions which need to be met when the lane change zone bit of the side rear vehicle is in a safe state are as follows: the side rear vehicle is absent or exists, and a third longitudinal relative distance is greater than a set side rear vehicle distance safety value, wherein the third longitudinal relative distance is the longitudinal relative distance between the vehicle and the side rear vehicle;

the conditions to be met when the rear vehicle lane change zone bit is in a safe state are as follows: and (4) unconditionally.

3. The lane change decision method according to claim 1, wherein the determining a target lane change decision of the vehicle according to the lane change identification bits of the respective areas specifically comprises:

determining the current state of the vehicle, wherein the current state is as follows: waiting for a lane change state, a lane change interruption state or a lane change function ending state;

determining the state jump condition of the vehicle according to the lane change flag bit of each region;

controlling the vehicle to jump from the current state to a target state pointed by the state jump condition, wherein the target state is as follows: the waiting lane change state, the interruption lane change state or the lane change function end state; and the target state and the current state are different states;

wherein the waiting lane changing state is as follows: the vehicle continuously judges whether the lane change identification position of each area is in a safe state or an unsafe state within a first preset time period;

the lane changing state is as follows: starting lane changing operation and driving to a target lane;

the interrupted lane change state is as follows: the vehicle interrupts the lane changing operation and returns to the original lane;

the channel changing function end state is as follows: the vehicle finishes the lane changing operation;

the state jump condition includes:

jumping from the waiting lane changing state to a first state jumping condition of the lane changing state, wherein the first state jumping condition is as follows: the lane change flag bits of each divided area of the driving environment of the vehicle are in a safe state;

and jumping from the waiting lane changing state to a second state jumping condition of the ending state of the lane changing function, wherein the second state jumping condition is as follows: at least one lane change zone bit of each area is in an unsafe state in a second preset time period;

skipping from the lane change state to a third state skipping condition of the interrupted lane change state, wherein the third state skipping condition is: at least one of the front side lane changing zone bit, the adjacent lane changing zone bit and the rear side lane changing zone bit is in an unsafe state;

a fourth state jump condition for jumping from the interrupted lane change state to the end state of the lane change function, wherein the fourth state jump condition is as follows: the vehicle drives back to the center of the original lane;

a fifth state jump condition for jumping from the lane change state to the end state of the lane change function, where the fifth state jump condition is: the host vehicle travels to the center of the target lane.

4. A lane change decision device, comprising:

the device comprises an acquisition unit, a storage unit and a processing unit, wherein the acquisition unit is used for acquiring the motion information of the vehicle and recording the motion information as first motion information, and the first motion information comprises: speed of travel and position relative to adjacent lane lines; acquiring motion information of an environmental vehicle, and recording the motion information as second motion information, wherein the second motion information comprises: the relative distance and relative speed of the environmental vehicle and the vehicle;

a dividing unit configured to divide a running environment in which a host vehicle is located into different regions based on the first motion information and the second motion information, the relative directions of the host vehicle and the environmental vehicles in the respective regions being the same;

a target vehicle determination unit configured to determine a target vehicle that satisfies preset requirements in each of the areas, the preset requirements including: the relative distance between the vehicle and the same region is shortest, or the longitudinal collision time between the vehicle and the region is shortest;

the lane change zone determining unit is used for determining that the lane change zone of each zone is in a safe state or an unsafe state according to the relative distance and the relative speed between the target vehicle and the vehicle in each zone, and the lane change zone is used for representing that the zone to which the target vehicle belongs is in the unsafe state with collision risk or the zone to which the target vehicle belongs is in the safe state without collision risk;

the lane change decision determining unit is used for determining a target lane change decision of the vehicle according to the lane change identification positions of the areas;

wherein the segmentation unit is specifically configured to:

dividing the running environment of the vehicle into a front vehicle area, a side front vehicle area, an adjacent vehicle area, a side rear vehicle area and a rear vehicle area based on the first motion information and the second motion information;

the lane change decision device further comprises:

a preceding vehicle marking unit, configured to mark an environmental vehicle in the preceding vehicle area as a preceding vehicle, where the preceding vehicle is: the rear of a vehicle center is in the area between the first lane line and the second lane line of former lane at the perpendicular to lane line direction, and the automobile body is all at the environmental vehicle that exceeds first perpendicular line in the direction that is on a parallel with lane line, wherein, first lane line is: the original lane is relative to the left lane line of the vehicle, and the target lane is relative to the right lane line of the vehicle, and the second lane line is as follows: the original lane is relative to the right lane line of the vehicle, and the first vertical line is as follows: a straight line including a head forefront point of the vehicle and perpendicular to the first lane line;

a front-side vehicle marking unit, configured to mark an environmental vehicle in the front-side vehicle area as a front-side vehicle, where the front-side vehicle is: the center of the tail of the vehicle is in a region between the first lane line and a third lane line in the direction perpendicular to the lane line, the vehicle body of the vehicle is an environmental vehicle which exceeds the first vertical line in the direction parallel to the lane line, and the third lane line is an outer lane line of the target lane relative to the vehicle;

an adjacent vehicle marking unit, configured to mark an environmental vehicle in the adjacent vehicle area as an adjacent vehicle, where the adjacent vehicle is: the vehicle head center or the vehicle tail center is positioned in an area between the first lane line and the third lane line in the direction perpendicular to the lane lines, at least part of the vehicle body is positioned in the environment vehicle between the first vertical line and the second vertical line, and the second vertical line is as follows: a straight line including a rearmost point of a rear of the vehicle and perpendicular to the first lane line;

a side rear vehicle marking unit, configured to mark an environmental vehicle in the side rear vehicle area as a side rear vehicle, where the side rear vehicle is: the center of the vehicle head is in a region between the first lane line and the third lane line in the direction perpendicular to the lane lines, and any part of the vehicle body is an environmental vehicle which does not exceed the second perpendicular line in the direction parallel to the lane lines;

a rear vehicle marking unit, configured to mark an environmental vehicle in the rear vehicle area as a rear vehicle, where the rear vehicle is: and the center of the vehicle head is in a region between the first lane line and the second lane line in the direction perpendicular to the lane line, and any part of the vehicle body is an environmental vehicle which does not exceed the second vertical line in the direction parallel to the lane line.

5. The lane change decision device of claim 4, wherein the lane change flag comprises: the system comprises a front vehicle lane changing zone bit, an adjacent vehicle lane changing zone bit, a side front vehicle lane changing zone bit, a side rear vehicle lane changing zone bit and a rear vehicle lane changing zone bit;

the condition that needs to be satisfied when the front vehicle lane change zone bit is in a safe state is as follows: the front vehicle is absent or exists, a first longitudinal relative distance is larger than a set front vehicle distance safety value, and the first longitudinal relative distance is the longitudinal relative distance between the vehicle and the front vehicle;

the adjacent vehicle lane change flag bit needs to meet the following conditions when in a safe state: the adjacent vehicle is absent;

the conditions which need to be met when the lane change zone bit of the front side vehicle is in a safe state are as follows: the front side vehicle is absent or exists, and a second longitudinal relative distance is greater than a set front side vehicle distance safety value, wherein the second longitudinal relative distance is the longitudinal relative distance between the vehicle and the front side vehicle;

the conditions which need to be met when the lane change zone bit of the side rear vehicle is in a safe state are as follows: the side rear vehicle is absent or exists, and a third longitudinal relative distance is greater than a set side rear vehicle distance safety value, wherein the third longitudinal relative distance is the longitudinal relative distance between the vehicle and the side rear vehicle;

the conditions to be met when the rear vehicle lane change zone bit is in a safe state are as follows: and (4) unconditionally.

6. The lane change decision device according to claim 4, wherein the lane change decision determining unit is specifically configured to:

determining the current state of the vehicle, wherein the current state is as follows: waiting for a lane change state, a lane change interruption state or a lane change function ending state;

determining the state jump condition of the vehicle according to the lane change flag bit of each region;

controlling the vehicle to jump from the current state to a target state pointed by the state jump condition, wherein the target state is as follows: the waiting lane changing state, the interruption lane changing state or the lane changing function ending state, wherein the target state and the current state are different states;

wherein the waiting lane changing state is as follows: the vehicle continuously judges whether the lane change identification position of each area is in a safe state or an unsafe state within a first preset time period;

the lane changing state is as follows: starting lane changing operation and driving to a target lane;

the interrupted lane change state is as follows: the vehicle interrupts the lane changing operation and returns to the original lane;

the channel changing function end state is as follows: the vehicle finishes the lane changing operation;

the state jump condition includes:

jumping from the waiting lane changing state to a first state jumping condition of the lane changing state, wherein the first state jumping condition is as follows: the lane change flag bits of each divided area of the driving environment of the vehicle are in a safe state;

and jumping from the waiting lane changing state to a second state jumping condition of the ending state of the lane changing function, wherein the second state jumping condition is as follows: at least one lane change zone bit of each area is in an unsafe state in a second preset time period;

skipping from the lane change state to a third state skipping condition of the interrupted lane change state, wherein the third state skipping condition is: at least one of the front side lane changing zone bit, the adjacent lane changing zone bit and the rear side lane changing zone bit is in an unsafe state;

a fourth state jump condition for jumping from the interrupted lane change state to the end state of the lane change function, wherein the fourth state jump condition is as follows: the vehicle drives back to the center of the original lane;

a fifth state jump condition for jumping from the lane change state to the end state of the lane change function, where the fifth state jump condition is: the host vehicle travels to the center of the target lane.

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