CN109976334B - Vehicle lane changing method, device, equipment and storage medium - Google Patents
Vehicle lane changing method, device, equipment and storage medium Download PDFInfo
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Abstract
The application relates to a vehicle lane change method, a device, equipment and a storage medium, wherein a predicted driving path of other vehicles is obtained according to lane change suggested behaviors of unmanned vehicles; the lane change advising action comprises a planning action that the driverless vehicle infringes the right of way of other vehicles; updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted driving path comprises a path planned by other vehicles to avoid the unmanned vehicle or a path planned by other vehicles not to avoid the unmanned vehicle. The lane changing intention of the unmanned vehicle is displayed by invading the road right of other vehicles before the unmanned vehicle changes the lane, and meanwhile, the other vehicles are forced to avoid the unmanned vehicle, so that the behavior that the other vehicles do not avoid the unmanned vehicle is avoided, and the problem that the unmanned vehicle cannot timely finish the lane changing is further avoided.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a vehicle lane changing method, device, equipment and storage medium.
Background
During the running process of the unmanned vehicle, the surrounding environment information (the running path of the surrounding vehicle, obstacles and the like) of the unmanned vehicle is acquired through a sensor arranged on the vehicle, the running path of the vehicle is planned in advance according to the surrounding environment information, and the running of the unmanned vehicle is controlled.
When the driverless vehicle needs to change lanes, the distance between the other vehicles and the driverless vehicle is obtained, and when the distance is determined to be larger than a preset safe distance, the driverless vehicle is controlled to change lanes. For example, when the unmanned vehicle needs to change lanes to the right, the environmental information of the lane on the right side of the unmanned vehicle is acquired, and when the distance between other vehicles on the lane on the right side and the unmanned vehicle is greater than the preset safety distance, the unmanned vehicle is controlled to change lanes to the right.
However, on a congested road, other vehicles are close to the unmanned vehicle, and when the unmanned vehicle changes lanes, the distance between the unmanned vehicle and the other vehicles is smaller than a preset safety distance, so that the unmanned vehicle cannot timely complete lane changing.
Disclosure of Invention
Based on this, it is necessary to provide a vehicle lane change method, apparatus, device and storage medium for solving the problem that the unmanned vehicle cannot complete lane change in time.
In a first aspect, a method of lane changing for a vehicle, the method comprising:
acquiring predicted driving paths of other vehicles according to the lane change suggested behaviors of the unmanned vehicle; the lane change advising action comprises a planning action of the unmanned vehicle invading the right of way of other vehicles;
updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted travel path includes a path planned by the other vehicle to avoid the unmanned vehicle or a path planned by the other vehicle not to avoid the unmanned vehicle.
In one embodiment, the obtaining the predicted driving path of the other vehicle according to the lane change recommended behavior of the unmanned vehicle includes:
according to a preset prediction rule, predicting a predicted driving path of other vehicles corresponding to the lane change suggested behavior; the prediction rule is used for predicting the travel tracks of other vehicles according to the road right infringement behavior of the unmanned vehicle.
In one embodiment, the method further comprises:
acquiring a plurality of lane changing behaviors of vehicles;
acquiring other vehicle running tracks corresponding to the plurality of vehicle lane changing behaviors;
and training to obtain the prediction rule according to the multiple vehicle lane changing behaviors and the running tracks of other vehicles corresponding to the multiple vehicle lane changing behaviors.
In one embodiment, after updating the driving path of the unmanned vehicle according to the predicted driving path, the method further comprises:
carrying out safety inspection on the updated running path of the unmanned vehicle to obtain an inspection result; the inspection result comprises the driving path safety of the unmanned vehicle and the driving path danger of the unmanned vehicle;
and controlling the unmanned vehicle to run according to the checking result.
In one embodiment, the performing a safety check on the updated driving path of the unmanned vehicle to obtain a check result includes:
obtaining distances between the unmanned vehicle and the other vehicles, wherein the distances comprise a transverse distance and a longitudinal distance;
and obtaining the inspection result according to the distance between the unmanned vehicle and other vehicles.
In one embodiment, if the transverse distance is greater than a preset transverse safety distance, and the longitudinal distance is greater than a preset longitudinal safety distance, the result of the check is that the driving path of the unmanned vehicle is safe;
and if the transverse distance is smaller than the preset transverse safe distance and/or the longitudinal distance is smaller than the preset longitudinal safe distance, the check result is the driving path danger of the unmanned vehicle.
In one embodiment, the controlling the unmanned vehicle to travel according to the checking result includes:
and when the check result is that the driving path of the unmanned vehicle is dangerous, controlling the unmanned vehicle to stop executing lane changing behaviors.
In one embodiment, the obtaining the predicted travel path of the other vehicle according to the lane change recommended behavior of the unmanned vehicle further includes:
acquiring a lane change requirement of the unmanned vehicle according to the driving path of the unmanned vehicle;
and acquiring the lane change suggested behavior of the unmanned vehicle according to the lane change requirement.
In a second aspect, a lane-change apparatus for a vehicle, the apparatus comprising:
the acquisition module is used for acquiring the predicted driving path of other vehicles according to the lane change suggested behavior of the unmanned vehicle; the lane change advising action comprises a planning action that the unmanned vehicle infringes the right of way of other vehicles;
the updating module is used for updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted travel path includes a path planned by the other vehicle to avoid the unmanned vehicle and a path planned by the other vehicle not to avoid the unmanned vehicle.
In a third aspect, a computer arrangement comprises a memory having stored thereon a computer program and a processor performing the method steps of the above-mentioned vehicle lane change method.
In a fourth aspect, a computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method steps of the above-mentioned vehicle lane change method.
According to the vehicle lane changing method, the device, the equipment and the storage medium, the predicted driving path of other vehicles is obtained according to the lane changing suggested behavior of the unmanned vehicle; the lane change advising action comprises a planning action that the driverless vehicle infringes the right of way of other vehicles; updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted driving path comprises a path planned by other vehicles to avoid the unmanned vehicle or a path planned by other vehicles not to avoid the unmanned vehicle. The lane changing intention of the unmanned vehicle is displayed by invading the right of the other vehicles before the unmanned vehicle changes the lane, and meanwhile, the other vehicles are forced to avoid the unmanned vehicle, so that the behavior that the other vehicles do not avoid the unmanned vehicle is avoided, and the problem that the unmanned vehicle cannot timely finish the lane changing is further avoided.
Drawings
FIG. 1 is a schematic illustration of an environment in which a method for changing lanes for a vehicle may be used in one embodiment;
FIG. 2 is a schematic flow chart diagram of a vehicle lane change method in one embodiment;
FIG. 3 is a schematic flow chart diagram of a lane change method for a vehicle according to another embodiment;
FIG. 4 is a schematic flow chart diagram of a lane change method for a vehicle in another embodiment;
FIG. 5 is a schematic flow chart diagram illustrating a lane change method for a vehicle according to another embodiment;
FIG. 6 is a schematic flow chart diagram illustrating a method for lane changing for a vehicle according to another embodiment;
FIG. 7 is a schematic structural diagram of a vehicle lane-changing device provided in one embodiment;
fig. 8 is a schematic structural view of a vehicle lane-changing device provided in another embodiment;
fig. 9 is a schematic structural view of a vehicle lane-changing device provided in another embodiment;
fig. 10 is a schematic structural view of a vehicle lane-changing device provided in another embodiment;
FIG. 11 is a diagram illustrating an internal structure of a computer device in one embodiment.
Detailed Description
The application provides a vehicle lane changing method, a vehicle lane changing device, vehicle lane changing equipment and a storage medium, and aims to solve the problem that a driverless vehicle cannot timely complete lane changing. The following describes in detail the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems by embodiments and with reference to the drawings. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
The lane changing method for the vehicle provided by the embodiment can be applied to the application environment shown in fig. 1. The unmanned vehicle 110 and the other vehicles 120 run on different lanes of the same road, when the unmanned vehicle 110 performs the lane change action, the distance between the unmanned vehicle 110 and the other vehicles 120 is acquired through a sensor arranged on the unmanned vehicle 110, and when the distance is greater than a preset safe distance, the unmanned vehicle 110 is controlled to perform the lane change action.
It should be noted that, in the vehicle lane change method provided in the embodiment of the present application, the execution main body may be a vehicle lane change device, and the device may be implemented as part or all of a vehicle lane change terminal through software, hardware, or a combination of software and hardware.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
FIG. 2 is a flowchart illustrating a lane change method for a vehicle according to one embodiment. The embodiment relates to a specific process for updating a running path of an unmanned vehicle through a planning behavior that the unmanned vehicle infringes the right of way of other vehicles. As shown in fig. 2, the method comprises the steps of:
s101, acquiring predicted driving paths of other vehicles according to the lane change suggested behaviors of the unmanned vehicle; the lane change advising action includes a planning action of the unmanned vehicle infringing the right of way of the other vehicle.
The unmanned vehicle can be an intelligent vehicle, and the driving path of the unmanned vehicle is planned mainly by an intelligent driver which is mainly a computer system in the vehicle, so that the purpose of unmanned driving is realized. The other vehicles may be vehicles running on a road, which may be vehicles driven by people, or other unmanned vehicles, and this is not limited in the embodiments of the present application. The lane change advising action can be a planning action of a vehicle lane change terminal, and can be an action of reserving enough safety time for other vehicles, planning that the driverless vehicle infringes the right of way of the other vehicles, and braking or avoiding the other vehicles when the other vehicles have enough safety time so as to ensure the safety of road driving. The lane change planning activity may include a specific distance that the driverless vehicle infringes the right of way, for example, the lane change planning activity may be a 50cm right offset of the driverless vehicle. The right of way can refer to the right of traffic participants to carry out road traffic activities on the road in a certain space and time according to the regulations of traffic laws, and can be divided into right of way, and right of occupation. The right of way of other vehicles may refer to the right of other vehicles to perform traffic activities on the road. For example, when the unmanned vehicle and the other vehicle travel on a two-lane road at the same time, as shown in fig. 1, the unmanned vehicle 110 travels on the left lane and the other vehicle 120 travels on the right lane, and the straight-going vehicle has the largest right to pass through according to the regulations of the relevant traffic regulations, and the other vehicle occupies the right to pass through on the right lane, and the other vehicle right to pass through along the right lane. The travel path may refer to a vehicle travel route, which may include a route that the vehicle has traveled and a route that the vehicle is planned to travel. The predicted travel path may be a result of prediction by the terminal of a planned travel route for another vehicle when the driverless vehicle infringes the other vehicle's right of way.
Specifically, after the terminal obtains the lane change advising action of the unmanned vehicle, the driving path of other vehicles is predicted according to the lane change advising action, and the predicted driving path of other vehicles is obtained. The terminal can obtain the predicted driving path of other vehicles corresponding to the lane change suggested behavior according to the corresponding relationship between the pre-stored lane change behavior and the driving tracks of other vehicles; the lane change suggestion model can be obtained through machine learning, and the lane change suggestion behavior of the unmanned vehicle is input into the lane change suggestion model to obtain the predicted driving path of other vehicles; the embodiment of the present application does not limit this. For example, continuing as shown in fig. 1, when the unmanned vehicle 110 travels in the left lane and the other vehicle travels 120 in the right lane, and the lane change advice behavior of the unmanned vehicle is shifted to the right by 50cm, the terminal may determine the predicted travel path of the other vehicle according to the correspondence between the unmanned vehicle shifted to the right by 50cm and the other vehicle avoiding to the right by 30 cm.
S102, updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted travel path includes a path planned by the other vehicle to avoid the unmanned vehicle or a path planned by the other vehicle not to avoid the unmanned vehicle.
Specifically, on the basis of the above embodiment, the terminal acquires the predicted travel path of the other vehicle, and may update the travel path of the unmanned vehicle on the basis of the predicted travel path. The predicted travel path may include a path planned by the other vehicle to avoid the unmanned vehicle, or a path planned by the other vehicle not to avoid the unmanned vehicle. When the predicted driving path is a path for planning and avoiding the unmanned vehicle for other vehicles, when the distance between the unmanned vehicle and other vehicles meets the requirement of safe distance, the driving path of the unmanned vehicle is updated to be a path for executing lane change, and when the distance between the unmanned vehicle and other vehicles does not meet the requirement of safe distance, the driving path of the unmanned vehicle is the original driving path; and when the predicted driving path is a path which is planned by other vehicles and does not avoid the unmanned vehicle, the path of the unmanned vehicle is the original driving path.
According to the vehicle lane changing method, the terminal obtains the predicted driving path of other vehicles according to the lane changing suggested behavior of the unmanned vehicle; the lane change advising behavior comprises a planning behavior that the driverless vehicle infringes the right of way of other vehicles; updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted driving path comprises a path which is planned by other vehicles to avoid the unmanned vehicle or a path which is planned by other vehicles not to avoid the unmanned vehicle, so that the unmanned vehicle shows the lane changing intention of the unmanned vehicle by infringing the right of the unmanned vehicle before lane changing, and meanwhile, other vehicles are forced to avoid the unmanned vehicle, the behavior that other vehicles do not avoid the unmanned vehicle is avoided, and the problem that the unmanned vehicle cannot timely complete lane changing is further avoided.
The above embodiment mainly describes a specific process of acquiring the predicted travel path of the other vehicle by the terminal through the lane change advice behavior of the unmanned vehicle, and then updating the travel path of the unmanned vehicle according to the predicted travel path, and the following embodiment describes in detail how the terminal acquires the predicted travel path of the other vehicle according to the lane change advice behavior of the unmanned vehicle. Optionally, according to a preset prediction rule, predicting a predicted driving path of the other vehicle corresponding to the lane change suggested behavior; the prediction rule is used to predict the travel locus of the other vehicle based on the road right infringing behavior of the unmanned vehicle.
In particular, the prediction rule may be used to predict the travel trajectory of other vehicles based on the road-right-infringement behavior of the unmanned vehicle. The preset prediction rule can be the corresponding relation between the lane change suggestion behavior and the predicted driving paths of other vehicles; the vehicle lane change prediction method can also be a neural network model, and machine learning is carried out on a plurality of lane change suggested behaviors and predicted driving paths of other vehicles corresponding to the lane change suggested behaviors to obtain a prediction rule; the embodiment of the present application does not limit this. For example, when the preset prediction rule is the corresponding relationship between the lane change recommended behavior and the predicted travel paths of other vehicles, and when the terminal acquires the lane change recommended behavior of the unmanned vehicle, the travel paths of other vehicles corresponding to the road right infringing behavior of the unmanned vehicle are predicted according to the corresponding relationship between the lane change recommended behavior and the predicted travel paths of other vehicle unions, that is, the predicted travel paths.
Further, the terminal can train to obtain the prediction rule through the multiple vehicle lane changing behaviors and other vehicle running tracks corresponding to the multiple vehicle lane changing behaviors.
FIG. 3 is a flowchart illustrating a lane change method for a vehicle according to another embodiment. The embodiment relates to a specific process for obtaining a prediction rule through training of a plurality of vehicle lane change behaviors and other vehicle running tracks corresponding to the plurality of vehicle lane change behaviors. As shown in fig. 3, the above "predicts the predicted travel path of the other vehicle corresponding to the lane change advice behavior according to the preset prediction rule; prediction rules for predicting the travel trajectory of other vehicles based on the road right infringement behavior of unmanned vehicles "one possible implementation method includes the steps of:
s201, obtaining a plurality of lane changing behaviors of the vehicle.
Specifically, the vehicle lane change behavior may be a behavior in which the vehicle changes the driving lane to the left or to the right. The terminal can acquire the information of the vehicle driving lane in the multi-frame traffic image data by acquiring the multi-frame traffic image data, and determine the lane changing behavior of the vehicle. The traffic image data may be point cloud data acquired by a laser radar or picture data shot by a camera, which is not limited in the embodiment of the application. For example, the terminal can acquire driving lanes of the same vehicle in different frames of pictures by collecting picture data shot by the multi-frame camera, and determine the lane changing behavior of the vehicle according to the driving lanes of the vehicle in different frames. The terminal can acquire one lane changing behavior of the vehicle at a time, and acquire a plurality of lane changing behaviors of the vehicle by acquiring traffic image data for a plurality of times; a plurality of lane changing behaviors of the vehicle can be acquired at one time; the embodiment of the present application does not limit this.
S202, obtaining other vehicle running tracks corresponding to the multiple vehicle lane changing behaviors.
Specifically, on the basis of the above embodiment, when obtaining lane change information of a vehicle, in the process of obtaining a lane change behavior of the vehicle, data of other vehicles in each frame of traffic image data may be collected to obtain a driving track of other vehicles corresponding to the lane change behavior of the vehicle. In the specific process of acquiring the other vehicle driving tracks corresponding to the multiple vehicle lane changing behaviors, the other vehicle driving tracks corresponding to one vehicle lane changing behavior are acquired at one time, and the other vehicle driving tracks corresponding to the multiple vehicle lane changing behaviors are acquired by collecting traffic image data for multiple times; other vehicle travel tracks corresponding to a plurality of vehicle lane change behaviors may be acquired at one time. The embodiment of the present application does not limit this.
S203, training to obtain a prediction rule according to the multiple lane changing behaviors of the vehicle and the driving tracks of other vehicles corresponding to the multiple lane changing behaviors of the vehicle.
Specifically, on the basis of the above embodiment, the multiple lane changing behaviors of the vehicle and the driving trajectories of other vehicles corresponding to the multiple lane changing behaviors of the vehicle are obtained, and the multiple lane changing behaviors of the vehicle may be input into a preset neural network model, and the driving trajectories of other vehicles corresponding to the multiple lane changing behaviors of the vehicle are output to train and obtain the prediction rule. In the process of specifically training the prediction rule, a set of training parameters may be preset, a plurality of vehicle lane change behaviors are input, the corresponding driving tracks of other vehicles are obtained through a neural network model of the preset set of training parameters, the driving tracks of the other vehicles are compared with the actual driving tracks of the other vehicles corresponding to the vehicle lane change behaviors, the training parameters are adjusted according to the comparison result until the driving tracks of the other vehicles obtained through the neural network model and the actual driving tracks of the other vehicles corresponding to the vehicle lane change behaviors meet the preset requirements, target training parameters are obtained, and the prediction rule is obtained according to the target training parameters.
According to the vehicle lane changing method, the terminal obtains the plurality of vehicle lane changing behaviors and obtains the other vehicle running tracks corresponding to the plurality of vehicle lane changing behaviors, and then trains to obtain the prediction rule according to the plurality of vehicle lane changing behaviors and the running tracks of the other vehicles corresponding to the plurality of vehicle lane changing behaviors, so that the predicted running path of the other vehicles corresponding to the predicted lane changing recommended behavior is more accurate according to the preset prediction rule by the terminal, the accuracy of updating the running path of the unmanned vehicle according to the predicted running path is improved, and the safety of the vehicle lane changing behaviors is improved.
On the basis of the above-described embodiments, after updating the driving route of the unmanned vehicle according to the predicted driving route, the terminal performs a safety check on the updated driving route of the unmanned vehicle, and controls the unmanned vehicle to drive according to the check result of the safety check, which will be described in detail through the embodiments shown in fig. 4-5.
FIG. 4 is a flowchart illustrating a lane change method for a vehicle according to another embodiment. The embodiment relates to a safety check of the updated running path of the unmanned vehicle, and a specific running process of the unmanned vehicle is controlled according to the check result of the safety check. As shown in fig. 4, the method further comprises the steps of:
s301, carrying out safety check on the updated running path of the unmanned vehicle to obtain a check result; the inspection result includes the traveling path safety of the unmanned vehicle, or the traveling path danger of the unmanned vehicle.
Specifically, on the basis of the above embodiment, after the terminal updates the driving route of the unmanned vehicle, the updated driving route of the unmanned vehicle may be subjected to a safety check to obtain a check result, where the check result may include the driving route safety of the unmanned vehicle or the driving route danger of the unmanned vehicle. The running path of the unmanned vehicle is safe, and the updated running path of the unmanned vehicle does not have an overlapping area with the running paths of other vehicles, or the distance between the updated running path of the unmanned vehicle and the running paths of other vehicles is far and is larger than a preset safety range, so that the updated running path of the unmanned vehicle avoids collision between the unmanned vehicle and other vehicles in the lane changing process. The driving path danger of the unmanned vehicle can be the driving path of the updated unmanned vehicle, the driving path of the unmanned vehicle is overlapped with the driving paths of other vehicles, or the driving path of the unmanned vehicle is close to the driving paths of other vehicles and is smaller than a preset safety range, and when other vehicles or the unmanned vehicle slightly deviates from the driving path, the unmanned vehicle has a high risk of colliding with other vehicles when changing lanes according to the updated driving path of the unmanned vehicle.
And S302, controlling the unmanned vehicle to run according to the checking result.
Specifically, on the basis of the above-described embodiment, after the security check is performed on the updated unmanned vehicle to obtain the check result, the unmanned vehicle may be controlled to travel according to the check result. When the result of the check is that the travel path of the unmanned vehicle is safe, the unmanned vehicle may be controlled to perform a lane change behavior. Alternatively, when the check result is that the unmanned vehicle is dangerous in the travel path, the unmanned vehicle is controlled not to perform the lane change behavior.
According to the lane changing method for the vehicle, the terminal carries out safety check on the updated running path of the unmanned vehicle to obtain a check result, wherein the check result comprises the running path safety of the unmanned vehicle or the running path danger of the unmanned vehicle, and then the unmanned vehicle is controlled to run according to the check result, so that the safety of the running path is checked before the unmanned vehicle carries out lane changing behaviors, and the lane changing safety of the unmanned vehicle is improved.
FIG. 5 is a flowchart illustrating a lane change method for a vehicle according to another embodiment. The embodiment relates to a specific process of how to perform safety check on the updated driving path of the unmanned vehicle. As shown in fig. 5, in S301, "performing safety check on the updated driving route of the unmanned vehicle to obtain a check result" one possible implementation method includes the following steps:
s401, obtaining the distance between the unmanned vehicle and other vehicles, wherein the distance comprises a transverse distance and a longitudinal distance.
Specifically, on the basis of the above-described embodiment, on the basis of the updated travel path of the unmanned vehicle and the predicted travel paths of the other vehicles being acquired, the distance between the unmanned vehicle and the other vehicles may be determined on the basis of the updated travel path of the unmanned vehicle and the predicted travel paths of the other vehicles. In the process of determining the distance between the unmanned vehicle and the other vehicle based on the updated traveling path of the unmanned vehicle and the predicted traveling paths of the other vehicles, the shortest distance among the distances between the points in the traveling path of the unmanned vehicle and the points in the predicted traveling paths of the other vehicles at the same time may be selected as the distance between the unmanned vehicle and the other vehicles. The distance includes a lateral distance, which may be the length of the distance along the lateral axis in a predetermined coordinate system, and a longitudinal distance. The longitudinal distance may be a length of the distance along the longitudinal axis in a predetermined coordinate system.
S402, obtaining a checking result according to the distance between the unmanned vehicle and other vehicles.
Specifically, on the basis of the above-described embodiment, the distance between the unmanned vehicle and the other vehicle is obtained, and the safety check is performed on the travel path of the unmanned vehicle on the basis of the distance, resulting in the check result. Optionally, if the transverse distance is greater than the preset transverse safety distance, and the longitudinal distance is greater than the preset longitudinal safety distance, the result of the check is that the driving path of the unmanned vehicle is safe. That is, when the lateral distance and the longitudinal distance are both greater than the respective safety distances, the above-described check results in that the travel path of the unmanned vehicle is safe. Optionally, if the lateral distance is less than the preset lateral safety distance, and/or the longitudinal distance is less than the preset longitudinal safety distance, the check result is a driving path danger of the unmanned vehicle. That is, when one of the lateral distance and the longitudinal distance is smaller than the corresponding safety distance, the result of the check is that the driving path of the unmanned vehicle is dangerous. For example, when the lateral distance is greater than the preset lateral safety distance and the longitudinal distance is less than the preset longitudinal safety distance, the updated inspection result of the travel path of the unmanned vehicle is a travel path danger of the unmanned vehicle.
According to the vehicle lane changing method, the terminal obtains the checking result according to the distance between the unmanned vehicle and other vehicles by obtaining the distance between the unmanned vehicle and other vehicles, wherein the distance comprises the transverse distance and the longitudinal distance. The safety check of the updated driving path of the unmanned vehicle is more accurate, and the unmanned vehicle is controlled to drive more safely according to the check result.
On the basis of the above embodiment, the terminal may further obtain a lane change advice behavior of the unmanned vehicle according to the driving path of the unmanned vehicle. This is described in detail below with respect to the embodiment shown in fig. 6.
FIG. 6 is a flowchart illustrating a lane change method for a vehicle according to another embodiment. The embodiment relates to a specific process of acquiring a lane change advising action of an unmanned vehicle by a terminal according to a running path of the unmanned vehicle. As shown in fig. 6, one possible implementation method of S101 "obtaining a driving route prediction result of another vehicle according to a lane change recommended behavior of the unmanned vehicle" further includes:
s501, acquiring a lane change requirement of the unmanned vehicle according to a running path of the unmanned vehicle.
Specifically, as described in the above embodiment, the travel path may refer to a vehicle travel route, which may include a route that the vehicle has traveled and a route that the vehicle is planned to travel. The driving path of the unmanned vehicle can comprise a planned driving route of the unmanned vehicle planned by a terminal, wherein when the driving path of the unmanned vehicle comprises a route for changing lanes of the unmanned vehicle, the lane change requirement of the unmanned vehicle is obtained according to the driving path of the unmanned vehicle. For example, when the unmanned vehicle travels in the right lane, it is determined that the unmanned vehicle needs to turn left at the intersection ahead according to the traveling path of the unmanned vehicle, and the lane change request of the unmanned vehicle is to change the vehicle to the left. It should be noted that the lane change requirement of the unmanned vehicle may be adaptively changed according to the change of the driving track of the unmanned vehicle.
And S502, acquiring a lane change advising behavior of the unmanned vehicle according to the lane change requirement.
Specifically, on the basis of the above embodiment, after the lane change demand of the unmanned vehicle is acquired, the lane change advice behavior of the unmanned vehicle is determined according to the lane change demand and the condition of the road on which the unmanned vehicle is traveling. When the road on which the unmanned vehicle runs is a busy road section, the number of vehicles on the road is large, the distance between the vehicles is small, the distance between other vehicles and the unmanned vehicle is obtained by the unmanned vehicle through a sensor, and the distance is smaller than a preset safety distance, so that when the unmanned vehicle cannot timely complete lane changing, the lane changing advising behavior of the unmanned vehicle is obtained through the lane changing requirement and the busy state of the running road section. For example, when the lane change requirement of the unmanned vehicle is that the unmanned vehicle changes the lane to the right, and the road section where the unmanned vehicle runs is congested, it is determined that the suggested lane change behavior of the unmanned vehicle is a planning behavior that infringes the right of the road of other vehicles to the right.
According to the vehicle lane changing method, the terminal acquires the lane changing requirement of the unmanned vehicle according to the running path of the unmanned vehicle, acquires the lane changing suggestion behavior of the unmanned vehicle according to the lane changing requirement, acquires the predicted running path of other vehicles according to the lane changing suggestion behavior of the unmanned vehicle, and updates the running path of the unmanned vehicle according to the predicted running path, so that the updated running path of the unmanned vehicle is determined according to the lane changing requirement of the unmanned vehicle, the condition that the unmanned vehicle frequently changes lanes is avoided, and the running safety and the running normalization of the unmanned vehicle are improved.
It should be understood that although the various steps in the flow charts of fig. 2-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
Fig. 7 is a schematic structural view of a vehicle lane change device provided in one embodiment, and as shown in fig. 7, the vehicle lane change device includes: an acquisition module 10 and an update module 20, wherein:
the acquisition module 10 is used for acquiring the predicted driving path of other vehicles according to the lane change suggested behavior of the unmanned vehicle; the lane change advising action comprises a planning action that the unmanned vehicle infringes the right of way of other vehicles;
an updating module 20, configured to update the driving path of the unmanned vehicle according to the predicted driving path; the predicted travel path includes a path planned by the other vehicle to avoid the unmanned vehicle and a path planned by the other vehicle not to avoid the unmanned vehicle.
In one embodiment, the obtaining module 10 is specifically configured to predict, according to a preset prediction rule, a predicted driving path of another vehicle corresponding to the lane change recommended behavior; the prediction rule is used for predicting the travel tracks of other vehicles according to the road right infringement behavior of the unmanned vehicle.
The vehicle lane-changing device provided by the embodiment of the invention can execute the method embodiment, the realization principle and the technical effect are similar, and the detailed description is omitted.
Fig. 8 is a schematic structural diagram of a vehicle lane-changing device provided in another embodiment, and based on the embodiment shown in fig. 7, as shown in fig. 7, the vehicle lane-changing device further includes: a training module 30, wherein:
the training module 30 is specifically configured to collect a plurality of lane change behaviors of the vehicle; acquiring other vehicle running tracks corresponding to the plurality of vehicle lane changing behaviors; and training to obtain the prediction rule according to the multiple vehicle lane changing behaviors and the running tracks of other vehicles corresponding to the multiple vehicle lane changing behaviors.
The vehicle lane-changing device provided by the embodiment of the invention can execute the method embodiment, the realization principle and the technical effect are similar, and the detailed description is omitted.
Fig. 9 is a schematic structural diagram of a vehicle lane-changing device provided in another embodiment, and based on the embodiment shown in fig. 7 or fig. 8, as shown in fig. 9, the vehicle lane-changing device further includes: a check module 40 and a control module 50, wherein:
the checking module 40 is used for carrying out safety check on the updated running path of the unmanned vehicle to obtain a checking result; the inspection result comprises the driving path safety of the unmanned vehicle and the driving path danger of the unmanned vehicle;
and the control module 50 is used for controlling the unmanned vehicle to run according to the checking result.
In one embodiment, the control module 50 is specifically configured to control the unmanned vehicle to stop performing the lane-change behavior when the checking result is that the unmanned vehicle is dangerous in a traveling path.
It should be noted that fig. 9 is shown based on fig. 8, but fig. 9 may also be shown based on the configuration of fig. 7, and this is merely an example.
The vehicle lane-changing device provided by the embodiment of the invention can execute the method embodiment, the realization principle and the technical effect are similar, and the detailed description is omitted.
Fig. 10 is a schematic structural diagram of a vehicle lane-changing device provided in another embodiment, and as shown in fig. 10, the inspection module 40 further includes: an acquisition unit 401 and a checking unit 402, wherein:
an obtaining unit 401, configured to obtain a distance between the unmanned vehicle and the other vehicle, where the distance includes a lateral distance and a longitudinal distance;
a checking unit 402, configured to obtain the checking result according to a distance between the unmanned vehicle and another vehicle.
In one embodiment, if the lateral distance is greater than a preset lateral safety distance, and the longitudinal distance is greater than a preset longitudinal safety distance, the checking result is that the driving path of the unmanned vehicle is safe; and if the transverse distance is smaller than the preset transverse safe distance and/or the longitudinal distance is smaller than the preset longitudinal safe distance, the check result is the driving path danger of the unmanned vehicle.
In one embodiment, the obtaining module 10 is further configured to obtain a lane change requirement of the unmanned vehicle according to a driving path of the unmanned vehicle; and acquiring the lane change suggested behavior of the unmanned vehicle according to the lane change requirement.
Fig. 10 is shown based on fig. 9, but fig. 10 may also be shown based on the structure of fig. 7 or 8, and this is merely an example.
The vehicle lane-changing device provided by the embodiment of the invention can execute the method embodiment, the realization principle and the technical effect are similar, and the detailed description is omitted.
For specific definition of the lane-changing device, reference may be made to the above definition of the lane-changing method for vehicles, and details are not repeated here. The various modules in the vehicle lane-changing device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal device, and its internal structure diagram may be as shown in fig. 11. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle lane-change method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 11 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a terminal device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring predicted driving paths of other vehicles according to the lane changing suggestion behaviors of the unmanned vehicle; the lane change advising action comprises a planning action that the unmanned vehicle infringes the right of way of other vehicles;
updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted travel path includes a path planned by the other vehicle to avoid the unmanned vehicle or a path planned by the other vehicle not to avoid the unmanned vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: according to a preset prediction rule, predicting a predicted driving path of other vehicles corresponding to the lane change suggested behavior; the prediction rule is used for predicting the travel tracks of other vehicles according to the road right infringement behavior of the unmanned vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: collecting a plurality of lane changing behaviors of vehicles; acquiring other vehicle running tracks corresponding to the plurality of vehicle lane changing behaviors; and training to obtain the prediction rule according to the multiple vehicle lane changing behaviors and the running tracks of other vehicles corresponding to the multiple vehicle lane changing behaviors.
In one embodiment, the processor, when executing the computer program, further performs the steps of: carrying out safety inspection on the updated running path of the unmanned vehicle to obtain an inspection result; the inspection result comprises the driving path safety of the unmanned vehicle and the driving path danger of the unmanned vehicle; and controlling the unmanned vehicle to run according to the checking result.
In one embodiment, the processor, when executing the computer program, further performs the steps of: obtaining distances between the unmanned vehicle and the other vehicles, wherein the distances comprise a transverse distance and a longitudinal distance; and obtaining the inspection result according to the distance between the unmanned vehicle and other vehicles.
In one embodiment, if the lateral distance is greater than a preset lateral safety distance, and the longitudinal distance is greater than a preset longitudinal safety distance, the checking result is that the driving path of the unmanned vehicle is safe; and if the transverse distance is smaller than the preset transverse safe distance and/or the longitudinal distance is smaller than the preset longitudinal safe distance, the check result is the driving path danger of the unmanned vehicle.
In one embodiment, the processor when executing the computer program further performs the steps of: and when the check result is that the driving path of the unmanned vehicle is dangerous, controlling the unmanned vehicle to stop executing lane changing behaviors.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a lane change requirement of the unmanned vehicle according to the driving path of the unmanned vehicle; and acquiring the lane change suggested behavior of the unmanned vehicle according to the lane change requirement.
The implementation principle and technical effect of the terminal device provided in this embodiment are similar to those of the method embodiments described above, and are not described herein again.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring predicted driving paths of other vehicles according to the lane change suggested behaviors of the unmanned vehicle; the lane change advising action comprises a planning action of the unmanned vehicle invading the right of way of other vehicles;
updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted travel path includes a path planned by the other vehicle to avoid the unmanned vehicle or a path planned by the other vehicle not to avoid the unmanned vehicle.
In one embodiment, the computer program when executed by the processor implements the steps of: according to a preset prediction rule, predicting a predicted driving path of other vehicles corresponding to the lane change suggested behavior; the prediction rule is used for predicting the travel tracks of other vehicles according to the road right infringement behavior of the unmanned vehicle.
In one embodiment, the computer program when executed by the processor implements the steps of: collecting a plurality of lane changing behaviors of vehicles; acquiring other vehicle running tracks corresponding to the plurality of vehicle lane changing behaviors; and training to obtain the prediction rule according to the multiple vehicle lane changing behaviors and the driving tracks of other vehicles corresponding to the multiple vehicle lane changing behaviors.
In one embodiment, the computer program when executed by the processor implements the steps of: carrying out safety inspection on the updated running path of the unmanned vehicle to obtain an inspection result; the inspection result comprises the driving path safety of the unmanned vehicle and the driving path danger of the unmanned vehicle; and controlling the unmanned vehicle to run according to the checking result.
In one embodiment, the computer program when executed by the processor implements the steps of: obtaining distances between the unmanned vehicle and the other vehicles, wherein the distances comprise a transverse distance and a longitudinal distance; and obtaining the inspection result according to the distance between the unmanned vehicle and other vehicles.
In one embodiment, if the transverse distance is greater than a preset transverse safety distance, and the longitudinal distance is greater than a preset longitudinal safety distance, the result of the check is that the driving path of the unmanned vehicle is safe; and if the transverse distance is smaller than the preset transverse safe distance and/or the longitudinal distance is smaller than the preset longitudinal safe distance, the check result is the driving path danger of the unmanned vehicle.
In one embodiment, the computer program when executed by the processor implements the steps of: and when the checking result is that the driving path of the unmanned vehicle is dangerous, controlling the unmanned vehicle to stop executing the lane changing behavior.
In one embodiment, the computer program when executed by the processor implements the steps of: acquiring a lane change requirement of the unmanned vehicle according to the driving path of the unmanned vehicle; and acquiring the lane change suggested behavior of the unmanned vehicle according to the lane change requirement.
The implementation principle and technical effect of the computer-readable storage medium provided by this embodiment are similar to those of the above-described method embodiment, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of changing lanes of a vehicle, the method comprising:
acquiring predicted driving paths of other vehicles according to the lane change suggested behaviors of the unmanned vehicle; the lane change advising action comprises a planning action of the unmanned vehicle invading the road right of the other vehicle, and the planning action comprises a specific distance of the unmanned vehicle invading the road right of the other vehicle;
updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted travel path comprises a path planned by the other vehicle to avoid the unmanned vehicle or a path planned by the other vehicle not to avoid the unmanned vehicle;
carrying out safety inspection on the updated running path of the unmanned vehicle to obtain an inspection result; the inspection result comprises the driving path safety of the unmanned vehicle and the driving path danger of the unmanned vehicle;
and controlling the unmanned vehicle to run according to the checking result.
2. The method of claim 1, wherein obtaining the predicted travel path of the other vehicle based on the lane change suggested behavior of the unmanned vehicle comprises:
according to a preset prediction rule, predicting a predicted driving path of other vehicles corresponding to the lane change suggested behavior; the prediction rule is used for predicting the travel tracks of other vehicles according to the road right infringement behavior of the unmanned vehicle.
3. The method of claim 2, further comprising:
collecting a plurality of lane changing behaviors of vehicles;
acquiring other vehicle running tracks corresponding to the plurality of vehicle lane changing behaviors;
and training to obtain the prediction rule according to the multiple vehicle lane changing behaviors and the running tracks of other vehicles corresponding to the multiple vehicle lane changing behaviors.
4. The method of claim 1, wherein the performing a safety check on the updated driving path of the unmanned vehicle to obtain a check result comprises:
obtaining distances between the unmanned vehicle and the other vehicles, wherein the distances comprise a transverse distance and a longitudinal distance;
and obtaining the inspection result according to the distance between the unmanned vehicle and other vehicles.
5. The method of claim 4, wherein obtaining the inspection result based on the distance between the unmanned vehicle and the other vehicle comprises:
if the transverse distance is greater than a preset transverse safety distance, and the longitudinal distance is greater than a preset longitudinal safety distance, the checking result is that the driving path of the unmanned vehicle is safe;
and if the transverse distance is smaller than the preset transverse safe distance and/or the longitudinal distance is smaller than the preset longitudinal safe distance, the checking result is the driving path danger of the unmanned vehicle.
6. The method according to claim 1, wherein the controlling the unmanned vehicle to travel according to the checking result comprises:
and when the check result is that the driving path of the unmanned vehicle is dangerous, controlling the unmanned vehicle to stop executing lane changing behaviors.
7. The method according to any one of claims 1-3, wherein the obtaining the predicted travel path of the other vehicle based on the lane change advice behavior of the unmanned vehicle further comprises:
acquiring a lane change requirement of the unmanned vehicle according to the driving path of the unmanned vehicle;
and acquiring a lane change suggestion behavior of the unmanned vehicle according to the lane change requirement.
8. A lane-changing apparatus for a vehicle, comprising:
the acquisition module is used for acquiring the predicted driving path of other vehicles according to the lane change suggested behavior of the unmanned vehicle; the lane change advising action comprises a planning action of the unmanned vehicle invading the road right of the other vehicle, and the planning action comprises a specific distance of the unmanned vehicle invading the road right of the other vehicle;
the updating module is used for updating the driving path of the unmanned vehicle according to the predicted driving path; the predicted travel path comprises a path planned by the other vehicle to avoid the unmanned vehicle and a path planned by the other vehicle not to avoid the unmanned vehicle;
the inspection module is used for carrying out safety inspection on the updated running path of the unmanned vehicle to obtain an inspection result; the inspection result comprises the driving path safety of the unmanned vehicle and the driving path danger of the unmanned vehicle;
and the control module is used for controlling the unmanned vehicle to run according to the checking result.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| US11783178B2 (en) | 2020-07-30 | 2023-10-10 | Toyota Research Institute, Inc. | Systems and methods for corridor intent prediction |
| CN114407899B (en) * | 2021-01-11 | 2023-06-09 | 广东科学技术职业学院 | Method for controlling vehicle to be integrated into target lane |
| CN113619574A (en) * | 2021-08-27 | 2021-11-09 | 中国第一汽车股份有限公司 | Vehicle avoidance method and device, computer equipment and storage medium |
| WO2023051312A1 (en) * | 2021-09-29 | 2023-04-06 | 广州文远知行科技有限公司 | Route deciding method, system and device, and medium |
| CN116674557B (en) * | 2023-07-31 | 2023-10-31 | 福思(杭州)智能科技有限公司 | Vehicle autonomous lane change dynamic programming method and device and domain controller |
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| CN109976334A (en) | 2019-07-05 |
| CN115097832A (en) | 2022-09-23 |
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