CN111399512A

CN111399512A - Driving control method, driving control device and vehicle

Info

Publication number: CN111399512A
Application number: CN202010227460.3A
Authority: CN
Inventors: 徐现昭
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2020-07-10

Abstract

The application discloses a driving control method, which comprises the following steps: judging whether a target lane adjacent to an original lane where the vehicle runs meets a lane change condition or not according to the road information; if the lane change condition is met, controlling the vehicle to change from the original lane to the target lane for running; judging whether the original lane meets a lane returning condition or not according to the road information; and if the lane returning condition is met, controlling the vehicle to change from the target lane to the original lane for running. In the driving control method of the embodiment of the application, under the condition that the main road or the straight lane is congested and the auxiliary road or the right-turn lane is unobstructed, the vehicle is guided to preferentially enter unobstructed lanes such as unobstructed right turn or auxiliary road and the like through judging the road information under the condition that the condition allows, and then the lane is changed back to the straight lane or the main road, so that the passing time is saved, and time guarantee is provided for urgently needed personnel and vehicles. The application also discloses a driving control device and a vehicle.

Description

Driving control method, driving control device and vehicle

Technical Field

The present application relates to the field of automotive technologies, and in particular, to a driving control method, a driving control apparatus, and a vehicle.

Background

In daily driving, traffic congestion may occur at main roads and auxiliary roads at busy traffic intersections, as well as straight-going and right-turn lanes. The reason for this is that most vehicles will be arranged in a straight-through lane or a main road, leaving a right-turn or a lane to a side road, based on general driving specifications. However, the traffic jam can be caused by straight going or main road congestion, the channels of the right-turn lane and the lower auxiliary road are unobstructed, the traveling time is long for the crowd driving the time, and the inconvenience of traveling is caused to a certain extent.

Disclosure of Invention

In view of this, embodiments of the present application provide a driving control method, a driving control apparatus, a vehicle, and a computer-readable storage medium.

The application provides a driving control method, which comprises the following steps:

judging whether a target lane adjacent to an original lane where the vehicle runs meets a lane change condition or not according to the road information;

if the lane change condition is met, controlling the vehicle to change from the original lane to the target lane for running;

judging whether the original lane meets a lane returning condition or not according to the road information;

and if the lane returning condition is met, controlling the vehicle to change from the target lane to the original lane for running.

In some embodiments, the determining whether the target lane adjacent to the original lane on which the vehicle is traveling satisfies the lane change condition according to the road information includes:

judging whether the target lane is unobstructed according to the road information; and

judging whether the target lane can plan a path or not according to the road information;

if the lane change condition is met, the step of controlling the vehicle to change from the original lane to the target lane for running comprises the following steps:

and if the target lane is unobstructed and a path can be planned, determining that the lane change condition is met, and controlling the vehicle to change from the original lane to the target lane for running.

In some embodiments, the determining whether the target lane is clear according to the road information includes:

selecting a reference vehicle;

comparing the distance traveled by the reference vehicle and the vehicle within a predetermined time;

comparing the traffic flow of the original lane and the traffic flow of the target lane; and

and judging whether the target lane is unobstructed according to the comparison result of the driving distance and the comparison result of the traffic flow.

In some embodiments, the determining whether the target lane can plan the path according to the road information includes:

comparing the passing time difference of the vehicle on the original lane and the target lane on the current road section;

determining the lane line type of the original lane;

and judging whether the target lane can plan a path or not according to the passing time difference and the lane line type.

In some embodiments, the controlling the vehicle to change from the original lane to the target lane to travel if the lane change condition is satisfied includes:

judging whether an original lane change space exists or not;

judging whether the front vehicle of the vehicle has a back-slip behavior;

and if the lane change space of the original lane exists and the front vehicle does not have a backward sliding behavior, controlling the vehicle to change from the original lane to the target lane.

In some embodiments, the determining whether the original lane meets the lane returning condition according to the road information includes:

judging whether the original lane has a lane returning space or not according to the road information; and

judging whether the original lane can plan a path or not according to the road information;

if the lane returning condition is met, the step of controlling the vehicle to change from the target lane to the original lane for running comprises the following steps:

and if the original lane has a lane returning space and can plan a path, determining that the lane returning condition is met, and controlling the vehicle to change from the target lane to the original lane for running.

In some embodiments, the controlling the vehicle to change from the target lane to the original lane comprises:

controlling the head part of the vehicle to drive into the original lane;

performing lane change reminding on surrounding vehicles to send a lane change request;

and controlling the vehicle to change from the target lane to the original lane when the peripheral vehicle allows the lane change request.

The application provides a driving control device, includes:

the lane changing module is used for judging whether a target lane adjacent to an original lane where the vehicle runs meets a lane changing condition or not according to the road information;

the control module is used for controlling the vehicle to change from the original lane to the target lane to run under the condition that the lane change condition is met;

the lane returning module is used for judging whether the original lane meets a lane returning condition or not according to the road information;

the control module is also used for controlling the vehicle to change from the target lane to the original lane for running under the condition that the lane returning condition is met.

In some embodiments, the lane-change module is to:

the control module is used for determining that the lane change condition is met and controlling the vehicle to change from the original lane to the target lane to run when the target lane is unobstructed and a path can be planned.

In certain embodiments, the control module is to:

judging whether an original lane change space exists or not;

judging whether the front vehicle of the vehicle has a back-slip behavior;

A vehicle is provided that includes one or more processors, memory; and one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs comprising instructions for performing the point drive control method as described above.

A non-transitory computer-readable storage medium containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the method of vehicle operation control is provided.

In the driving control method, the driving control device, the vehicle and the computer-readable storage medium according to the embodiment of the application, under the condition that the main road or the straight lane is blocked and the auxiliary road or the right-turn lane is unobstructed, the vehicle is guided to preferentially enter unobstructed lanes such as the right-turn lane or the auxiliary road and the like through the judgment of the road information under the condition that the condition is allowed, and then the lane is changed back to the straight lane or the main road, so that the passing time is saved, and the time guarantee is provided for the urgently needed personnel and vehicles.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a driving control method according to some embodiments of the present disclosure.

Fig. 2 is a block diagram of a driving control device according to some embodiments of the present disclosure.

Fig. 3 is a state diagram of a driving control method according to some embodiments of the present disclosure.

Fig. 4 is a flow chart of a driving control method according to some embodiments of the present disclosure.

Fig. 5 is a flow chart of a driving control method according to some embodiments of the present disclosure.

Fig. 6 is a flow chart of a driving control method according to some embodiments of the present disclosure.

Fig. 7 is a flow chart of a driving control method according to some embodiments of the present disclosure.

Fig. 8 is a flow chart of a driving control method according to some embodiments of the present disclosure.

Fig. 9 is a flow chart of a driving control method according to some embodiments of the present disclosure.

Fig. 10 is a flow chart of a driving control method according to some embodiments of the present disclosure.

Fig. 11 is a flow chart illustrating a driving control method according to some embodiments of the present disclosure.

Fig. 12 is a flow chart illustrating a driving control method according to some embodiments of the present disclosure.

Fig. 13 is a flow chart illustrating a driving control method according to some embodiments of the present disclosure.

Fig. 14 is a flow chart of a driving control method according to some embodiments of the present disclosure.

Fig. 15 is a flow chart illustrating a driving control method according to some embodiments of the present disclosure.

Fig. 16 is a state diagram of a driving control method according to some embodiments of the present application.

Fig. 17 is a flow chart illustrating a driving control method according to some embodiments of the present disclosure.

Fig. 18 is a flow chart illustrating a driving control method according to some embodiments of the present disclosure.

Fig. 19 is a flow chart illustrating a driving control method according to some embodiments of the present disclosure.

Fig. 20 is a flow chart illustrating a driving control method according to some embodiments of the present disclosure.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

Referring to fig. 1, the present application provides a driving control method. The method comprises the following steps:

s10: judging whether a target lane adjacent to an original lane where the vehicle runs meets a lane change condition or not according to the road information;

s20: if the lane change condition is met, controlling the vehicle to change from the original lane to the target lane for running;

s30: judging whether the original lane meets a lane returning condition or not according to the road information;

s40: and if the lane returning condition is met, controlling the vehicle to change from the target lane to the original lane for running.

Referring to fig. 2 and 3, an embodiment of the present application provides a vehicle 1000. The vehicle 1000 includes a processor. The processor is used for judging whether a target lane adjacent to an original lane where the vehicle 1000 runs meets a lane change condition according to the road information, controlling the vehicle 1000 to change from the original lane to the target lane to run if the lane change condition is met, judging whether the original lane meets a lane return condition according to the road information, and controlling the vehicle 1000 to change from the target lane to the original lane to run if the lane return condition is met. The processor may be a separately provided processing device or a vehicle 1000 running computer, which is not limited herein.

The embodiment of the present application further provides a driving control device 110, and the driving control method according to the embodiment of the present application can be implemented by the driving control device 110 according to the embodiment of the present application.

Specifically, the travel control device 110 includes a lane change module 112, a control module 114, and a lane return module 116. S10 may be implemented by the lane-change module 112, S20, S40 may be implemented by the control module 114, and S30 may be implemented by the lane-return module 116. In other words, the lane changing module 112 is configured to determine whether a target lane adjacent to an original lane where the vehicle is traveling satisfies a lane changing condition according to the road information. The control module 114 is used for controlling the vehicle to change from the original lane to the target lane for driving when the lane change condition is met. The lane returning module 116 is configured to determine whether the original lane meets a lane returning condition according to the road information. The control module 114 is also configured to control the vehicle to change from the target lane to the original lane if the return condition is satisfied.

In the driving control method, the driving control device 110, the vehicle 1000 and the computer-readable storage medium according to the embodiment of the application, under the condition that the main road or the straight lane is congested and the auxiliary road or the right-turn lane is unobstructed, the vehicle 1000 is guided to preferentially enter unobstructed lanes such as the right-turn or the auxiliary road and the like by judging the road information under the condition that the condition allows, and then the lane is changed back to the straight lane or the main road, so that the passing time is saved, and the time guarantee is provided for the personnel and the vehicles needing to catch up the time urgently.

In daily driving experience, traffic jam occurs in a main road or a straight lane at a busy traffic intersection, and an adjacent auxiliary road or a right-turn lane is smooth. Based on general driving specifications, most vehicles can be arranged on a straight-through lane or a main lane, namely a lane where the vehicles are jammed, and a lane for turning right or going to a side road is reserved.

For general vehicles and passengers, the vehicles can drive to follow the traffic flow to slowly pass through the congested road section, however, for some special cases, such as the emergency situation that a baby or a pregnant woman in the vehicle needs to go to a hospital urgently, or some fire-fighting and emergency vehicles and the like, the vehicle needs to quickly pass through the congested road section urgently, and the passing on the road section has great trouble.

With the development of automotive electronics, related technologies such as sensing technology, image processing, artificial intelligence, and the like are gradually applied in the automotive field. The high-precision map and the beyond visual range perception can be used for acquiring road and traffic information, and effective data support is provided for operations requiring high precision degree, such as automatic driving.

Compared with a vehicle-mounted electronic map, the high-precision map has higher precision, can be accurate to the centimeter level, contains more data dimensions, and not only comprises road information, but also comprises information related to traffic except the road information.

The high-precision map stores a large amount of driving assistance information as structured data, and the information can be divided into two types. The first type is road data such as lane information such as the position, type, width, gradient, and curvature of a lane line. The second type is fixed object information around a lane, such as traffic signs, traffic lights, etc., lane limits, junctions, obstacles and other road details, and further includes infrastructure information such as overhead objects, guard rails, number, road edge types, roadside landmarks, etc. Therefore, the navigation system of the high-precision map can accurately locate the terrain, objects and road contours, thereby guiding the vehicle to run. The method can accurately represent the road network in three dimensions, such as the geometric structure of the road surface, the position of road sign lines, a point cloud model of the surrounding road environment and the like. With the high-precision three-dimensional representations, the automatic driving system of the vehicle can accurately confirm the current position of the automatic driving system by comparing the data of the vehicle-mounted positioning system, the inertial unit, the laser radar and the camera. In addition, the high-precision map contains rich semantic information, such as the position and type of traffic lights, the type of road marking lines, and which roads can be driven.

Since the high-precision map has a high requirement on real-time performance of data update, the high-precision map is usually implemented by a cloud platform. That is, the vehicle obtains the high-precision map and the navigation data information through the cloud.

It can be understood that, during driving, the sight range of the driver is limited, so that a certain visual blind area exists, and the visual sensor of the vehicle itself may be influenced by the factors of the surrounding environment, the weather and the like, so that a certain limitation exists. The super-vision perception technology is used for supplementing the vision sensor and the sight of a driver by using data of a high-precision map, providing richer road information for assisting the vehicle and providing guarantee for safe driving.

In this application, when facing aforementioned road conditions, the road information of the high accuracy map that acquires from the high in the clouds judges the road conditions of the former road that vehicle 1000 traveled and the adjacent target lane of former road according to road information to provide the guide for driving fast. Specifically, when the target lane meets the lane change condition, the vehicle 1000 can be controlled to change the congested original lane to the unobstructed target lane, then when the target lane needs to be changed to the original lane, whether the original lane meets the lane return condition or not is judged, and then under the condition that the original lane meets the lane return condition, the vehicle 1000 is controlled to be changed from the target lane to the original lane to drive, so that the passing time is saved, and convenience is provided for special people who catch up with the time.

The original lane refers to a lane where the vehicle 1000 travels before changing lanes, and the target lane refers to a lane where the vehicle 1000 wants to enter, where the lane is adjacent to the original lane, and the adjacent should be broadly understood as being directly adjacent to the original lane or being spaced apart from the original lane, that is, the target lane includes both the lane adjacent to the original lane and the adjacent lane of the adjacent lane. Distinguished from the road type, the original lane should be a straight lane or main road, and the target lane should be a right-turn lane or side road. Of course, for the situation that the actual road includes a plurality of straight roads and the vehicle 1000 is not currently running in the immediate right-turn lane, other lane change strategies may be adopted, and the vehicle may first run to the straight lane in the immediate right-turn lane, or may also run to the straight lane in the immediate right-turn lane by adopting the lane change strategy according to the embodiment of the present application, which is not limited herein.

In actual operation, the lane changing and returning processes can be automatically completed by the automatic driving system of the vehicle 1000 controlling the vehicle 1000, or the driver can be prompted by the human-computer interaction system of the vehicle 1000 when the lane changing condition and the returning condition are met, and the driver can control the vehicle 1000 to run according to the relevant prompts to realize the lane changing and the returning.

Lane change and lane return in this application can be accomplished through the autopilot mode of vehicle, and the relevant electronic system that accessible vehicle 1000 carried realizes in coordination, and electronic component such as radar, camera, sensor that the electronic system distributes in coordination in a plurality of positions of automobile body can support detection and control of parameters such as vehicle 1000 longitudinal and horizontal workshop distance, throttle, braking, turn to, follow, acceleration, steering angle in the lane.

Referring to fig. 4, in some embodiments, S10 includes:

s11: judging whether the target lane is unobstructed according to the road information; and

s12: judging whether the target lane can plan a path or not according to the road information;

s20 includes:

s21: and if the target lane is smooth and the path can be planned, determining that the lane change condition is met, and controlling the vehicle to change from the original lane to the target lane for running.

In some embodiments, S11, S12 may be implemented by the lane-change module 112, and S21 may be implemented by the control module 114. That is, the lane change module 112 is configured to determine whether the target lane is clear according to the road information and determine whether the target lane can plan the path according to the road information, and the control module 114 is configured to determine that the lane change condition is met and control the vehicle 1000 to change from the original lane to the target lane for driving when the target lane is clear and the path can be planned.

In some embodiments, the processor is configured to determine whether the target lane is clear according to the road information, determine whether the target lane can plan a path according to the road information, and determine that a lane change condition is met and control the vehicle to change from the original lane to the target lane to travel when the target lane is clear and the path can be planned.

Specifically, in actual operation, the lane change condition may be set up by setting up the following conditions, that is: whether the target road is clear and whether a lane change path changed from the original road to the target road can be planned. If the two conditions are met, that is, the target road is smooth and the target lane can plan the path, the vehicle 1000 is controlled to change from the original lane to the target lane.

It should be understood that unobstructed refers to a state in which the road of the target lane relative to the original lane is unobstructed, and is not an absolute concept as long as the target lane is more unobstructed relative to the original lane.

The target lane can plan a path, which means whether the original lane and the target lane have enough space, vehicle conditions and road conditions to enable the vehicle 1000 to change the route from the original lane to the target lane.

Referring to fig. 5, in some embodiments, S11 includes:

s111: selecting a reference vehicle;

s112: comparing the reference vehicle with a travel distance of the vehicle within a predetermined time;

s113: comparing the traffic flow of the original lane and the traffic flow of the target lane; and

s114: and judging whether the target lane is smooth or not according to the comparison result of the driving distance and the comparison result of the traffic flow.

In some embodiments, S111-S114 may be implemented by the lane-changing module 112, that is, the lane-changing module 112 is configured to select a reference vehicle, compare the travel distances of the reference vehicle and the vehicle 1000 within a predetermined time, compare the traffic volumes of the original lane and the target lane, and determine whether the target lane is clear according to the comparison result of the travel distances and the comparison result of the traffic volumes.

In some embodiments, the processor is configured to select a reference vehicle, compare the travel distances of the reference vehicle and the vehicle 1000 in a predetermined time, compare the traffic flow rates of the original lane and the target lane, and determine whether the target lane is clear according to the comparison result of the travel distances and the comparison result of the traffic flow rates.

It will be appreciated that if one lane is more clear than another, then the vehicle 1000 can travel a greater distance within that lane at the same time, and in addition, the traffic flow for that lane is less. Therefore, in the present embodiment, the determination condition is set in both the driving distance and the traffic flow rate to determine whether the target lane is clear.

For the driving distance, a reference vehicle can be selected, the reference vehicle can be a vehicle with a target lane flush with the vehicle body of the vehicle 1000, in the actual driving process, if the target lane has a vehicle which actually runs, the reference vehicle can be selected when the vehicle passes through the vehicle 1000, and if the target lane has no vehicle, historical data of the lane can be obtained through a cloud high-precision map, and the reference vehicle is selected. After the reference vehicle is selected, the difference in distance that the vehicle 1000 traveling in the original lane and the reference vehicle traveling in the target lane can travel within a predetermined time can be compared. The relevant data can be acquired through a high-precision map at the cloud and the sensor of the vehicle 1000.

For the traffic flow, the real-time traffic flow of the original lane and the real-time traffic flow of the target lane can be compared, and certainly, in order to more accurately judge the traffic flow of the corresponding lane and the possible situation that no vehicle runs in the target lane, the comparison can be performed on the basis of the real-time traffic flow in combination with the historical vehicle amount data of the traffic flow of the corresponding lane.

Referring to fig. 6, in some embodiments, S114 includes:

s1141: and under the condition that the difference value between the running distance of the reference vehicle and the running distance of the vehicle is greater than the distance difference preset threshold value and the traffic flow of the original lane is greater than the traffic flow of the target lane, determining that the target lane is unobstructed.

In some embodiments, S1141 may be implemented by lane change module 112. In other words, the lane changing module 112 is configured to determine that the target lane is clear when a difference between the driving distance of the reference vehicle and the driving distance of the vehicle is greater than a distance difference predetermined threshold and the traffic flow of the original lane is greater than the traffic flow of the target lane.

In some embodiments, the processor is configured to determine that the target lane is clear if the difference between the distance traveled by the reference vehicle and the distance traveled by the vehicle is greater than a distance difference predetermined threshold and the traffic flow of the original lane is greater than the traffic flow of the target lane.

Specifically, in the present example, the difference value of the travel distance of the reference vehicle and the travel distance of the vehicle within 5s may be compared, and the distance difference predetermined threshold value may be set to 10 m. It will be appreciated that 10m is generally the length of two vehicle bodies, and that excluding a safe driving distance, a target lane may be considered clear if the difference is greater than 10 m.

That is to say, the difference between the driving distance of the reference vehicle in the target lane and the driving distance of the vehicle 1000 in the original lane is greater than 10m in 5s, the target lane can be considered as unobstructed preliminarily, and the traffic flow of the two lanes is combined at the same time, and when the traffic flow of the original lane is greater than that of the target lane, the unobstructed target lane can be determined.

Referring to fig. 7, in some embodiments, S12 includes:

s121: comparing the passing time difference of the vehicles on the original lane and the target lane on the current road section;

s122: determining the lane line type of the original lane;

s123: and judging whether the target lane can plan a path or not according to the passing time difference and the lane line type.

In some embodiments, S121-S123 may be implemented by lane-change module 112. In other words, the lane changing module 112 is configured to compare the passing time difference between the vehicle on the original lane and the target lane on the current road segment, determine the lane type of the original lane, and determine whether the target lane can plan the route according to the passing time difference and the lane type.

In some embodiments, the processor is configured to compare a transit time difference between the vehicle on the original lane and the target lane on the current road segment, determine a lane line type of the original lane, and determine whether the target lane can plan the route according to the transit time difference and the lane line type.

Specifically, the transit time refers to respective travel times of the vehicle 1000 on the original lane and the reference vehicle on the target lane on the current transit section, and the transit section may be selected from the current location to a meeting vehicle location, such as an intersection, or may be a section of the original lane where the traffic flow is the largest. It can be understood that, because the lane changing and returning processes also include a plurality of sub-processes such as turning, waiting and the like, if there is no obvious difference between the travel time of the original lane and the travel time of the target lane, time cannot be saved in practice, and therefore, on one hand, whether the target lane can plan the path or not can be judged from the travel time.

On the other hand, the type of lane line should also be taken into account to ensure compliance with relevant traffic laws and regulations throughout the lane change procedure.

Referring to fig. 8, in some embodiments, S123 includes:

s1231: and determining that the target lane can plan the path under the condition that the passing time difference is larger than the time difference preset threshold and the lane line is a broken line.

In some embodiments, S1231 may be implemented by lane change module 112. In other words, the lane-change module 112 is configured to determine that the target lane can plan the path if the transit time difference is greater than the time difference predetermined threshold and the lane line is a dashed line.

In some embodiments, the processor is configured to determine that the target lane is capable of planning a path if the transit time difference is greater than the time difference by a predetermined threshold and the lane line is a dashed line.

Specifically, the time difference predetermined threshold may be set to 10s, that is, when the transit time of the vehicle 1000 in the original lane and the transit time of the reference vehicle in the target lane are longer than or equal to 10s, it may be preliminarily considered that the target lane can plan the path, and further, it is confirmed that the lane line is a broken line, that is, the vehicle can make a lane change, in which case, it may be determined that the target lane can plan the path.

In actual travel, there may be a case where a plurality of lanes are crossed in lane change travel. It can be understood that the larger the number of lanes crossed, the longer the possible sub-processes of turning, waiting, etc. during lane changing, the more time is consumed, and the advantage of making up the time consumed in the target lane crossing multiple lanes is required, that is, the shorter the transit time in the lane, the larger the time difference between the transit time of the lane and the original lane relative to the target lane adjacent to the original lane, and accordingly, for the target lane crossing multiple lanes, the predetermined threshold value of the time difference is larger than the predetermined threshold value of the time difference between the adjacent target lanes.

If the lane change condition is not satisfied currently as determined by the foregoing conditions, the vehicle 1000 continues to travel on the original lane while continuing to detect the relevant data, so as to perform lane change again when appropriate.

Referring to fig. 9, in some embodiments, S20 includes:

s22: judging whether an original lane change space exists or not;

s23: judging whether the front vehicle of the vehicle has a back-slip behavior;

s24: and if the original lane changing space exists and the front vehicle does not have the backward sliding behavior, controlling the vehicle to change from the original lane to the target lane.

In some embodiments, S22-S24 may be implemented by control module 114, that is, control module 114 is configured to determine whether there is a lane change space for the original lane and whether there is a rolling back behavior for the leading vehicle of vehicle 1000, and to control a change of vehicle 1000 from the original lane to the target lane if there is a lane change space for the original lane and there is no rolling back behavior for the leading vehicle.

In some embodiments, the processor is configured to determine whether there is a lane change space for the original lane, and to determine whether there is a rolling back behavior for a leading vehicle of the vehicle 1000, and to control the vehicle 1000 to change from the original lane to the target lane if there is a lane change space for the original lane and there is no rolling back behavior for the leading vehicle.

Specifically, in the case where it is determined that the lane change condition is satisfied, it is possible to start controlling the vehicle 1000 to change the lane from the original vehicle to the target lane. It can be understood that the lane change condition is considered as the target lane, and both the original lane and the target lane need to be considered during the lane change driving process.

For the original lane, whether there is a lane change space, that is, whether there is enough space left for the original lane to enable the vehicle 1000 to perform steering and lane change operations, is considered.

Further, it is considered whether or not a front vehicle of the vehicle 1000 has a back-rolling behavior, that is, a collision accident with the vehicle 1000 due to a rolling of the front vehicle, which may occur during a lane change, is considered.

Further, in a case where it is determined that there is a sufficient lane change space in the original lane and the preceding vehicle does not roll back, the vehicle 1000 is controlled to change to the target lane.

Referring to fig. 10, in some embodiments, S22 includes:

s221: judging whether the distance between the vehicle and the front vehicle is greater than or equal to a preset distance threshold value;

s222: and confirming that the original lane changing space exists in the original lane under the condition that the distance between the vehicles is larger than or equal to the preset threshold value.

In some embodiments, S221, S222 may be implemented by the control module 114. In other words, the control module 114 is configured to determine whether the distance between the vehicle 1000 and the preceding vehicle is greater than or equal to a predetermined distance threshold, and confirm that the original lane change space exists in the original lane when the distance is greater than or equal to the predetermined distance threshold.

In some embodiments, the processor is configured to determine whether the distance between the vehicle 1000 and the preceding vehicle is greater than or equal to a predetermined distance threshold, and confirm that the original lane change space exists in the original lane if the distance is greater than or equal to the predetermined distance threshold.

Specifically, in the present example, the distance from the preceding vehicle is used to determine whether the original lane has the lane change space, and it can be understood that when the distance from the vehicle 1000 to the preceding vehicle is enough to turn the vehicle 1000, or the head of the vehicle is turned to the target vehicle, the existence of the original lane change space can be confirmed. It can be understood that the predetermined distance value may be set in real time according to parameters such as the vehicle type and the turning radius of the vehicle 1000, that is, the vehicle 1000 may determine whether the distance to the preceding vehicle is a safe distance according to the related data of the high-precision map.

Referring to fig. 11, in some embodiments, S20 further includes:

s25: judging whether a target lane change space exists or not;

s26: and controlling the vehicle to change from the original lane to the target lane under the condition that the lane change space of the target lane exists.

In certain embodiments, S25, S26 may be implemented by the control module 114. In other words, the control module 114 is configured to determine whether a target lane change space exists, and to control the vehicle 1000 to change from the original lane to the target lane if the target lane change space exists.

In some embodiments, the processor is configured to determine whether a target lane change space exists, and to control the vehicle 1000 to change from the original lane to the target lane if the target lane change space exists.

Specifically, in a case where it is determined that the lane change is possible in the original lane, the vehicle 1000 may be controlled to start the change to the target lane. As described above, in the lane changing process, it should be considered whether there is a lane changing space in the original lane, and it should also be considered whether there is a lane changing space in the target lane, so as to meet the lane changing requirement of the vehicle 1000.

Referring to fig. 12, in some embodiments, S25 includes:

s251: judging whether a rear vehicle collision behavior exists in the target lane;

s252: and if the target lane has no rear vehicle collision behavior, determining that a lane change space of the target lane exists in the target lane.

In some embodiments, S251, S252 may be implemented by the control module 114. Alternatively, the control module 114 is configured to determine whether the target lane has a rear vehicle collision behavior and determine that the target lane has a target lane change space if the target lane has no rear vehicle collision behavior.

Specifically, the target lane needs to consider whether the vehicle 1000 may collide with a following vehicle from the target lane during lane change but not yet completely enter the target lane, and if there is a possibility of collision, it may be considered that the target lane does not have a sufficient lane change space, and conversely, it may be considered that the target lane has a lane change space.

Referring to fig. 13, in some embodiments, S251 includes:

s2511: judging whether a rear vehicle driving behavior exists in the target lane after preset time;

s2512: if not, determining that the target lane has no rear vehicle collision behavior;

s2513: if so, judging whether the vehicle collides with the rear vehicle at the change time of changing from the original lane to the target lane;

s2514: if not, judging whether the vehicle enters the blind area range of the vehicle after the change moment;

s2515: if not, determining that the target lane has no rear vehicle collision behavior.

In certain embodiments, S2511-S2515 may be implemented by the control module 114. Alternatively, the control module 114 is configured to determine whether there is a rear vehicle driving behavior in the target lane after a predetermined time, determine whether there is a rear vehicle collision-free behavior in the target lane in the absence of the rear vehicle driving behavior, determine whether a change time at which the vehicle 1000 changes from the original lane to the target lane will collide with the rear vehicle in the presence of the rear vehicle driving behavior, determine whether the rear vehicle will enter a blind zone of the vehicle at the change time in the absence of the rear vehicle collision, and determine that there is no rear vehicle collision behavior in the target lane in the absence of the rear vehicle entering the blind zone.

In some embodiments, the processor is configured to determine whether a rear vehicle driving behavior of the target lane exists after a predetermined time, and to determine whether a rear vehicle collision-free behavior of the target lane exists in the case of the rear vehicle driving behavior, and to determine whether a change time at which the vehicle 1000 changes from the original lane to the target lane collides with the rear vehicle in the case of the rear vehicle driving behavior, and to determine whether the rear vehicle enters a blind zone range of the vehicle at the change time in the case of no collision with the rear vehicle, and to determine the rear vehicle collision-free behavior of the target lane in the case of no vehicle entering the blind zone range.

Specifically, as to whether the rear-vehicle collision behavior may occur in the target lane, three cases may be included, which are described below:

in the first case, no vehicle is present in the target lane, and more specifically, no vehicle is present in the target lane after a series of actions of changing the vehicle 1000 from the original lane to the target lane are completed. For example, it is possible to determine whether or not the vehicle 1000 has a rear vehicle traveling 3s after turning on the turn signal to prepare for lane change.

In the second case, if it is determined that another vehicle is traveling in the target lane, it is determined whether a rear vehicle may collide with the vehicle 1000 at the time of lane change of the vehicle 1000 to the target lane, and if a collision occurs, the vehicle 1000 is controlled to stop the lane change operation. For example, it may be determined whether there is a rear vehicle that may collide with the vehicle 1000 3s after the vehicle 1000 turns on the turn signal to make a lane change, assuming a vehicle speed.

In the third case, if it is determined that the vehicle 1000 does not collide with the following vehicle, it is determined whether the following vehicle enters a blind area range of the vehicle during the lane change process, in which case, although it is possible that the vehicle 1000 does not directly collide with the following vehicle, an accident may still occur due to incomplete visual field information of the driver if the following vehicle enters the blind area of the vehicle 1000, and in this case, it is also determined that the target lane has a following vehicle collision behavior. For example, it may be determined whether there is a possibility that the following vehicle enters the blind spot of the vehicle 1000 3s after the turn lamp of the vehicle 1000 is turned on in preparation for lane change, assuming a vehicle speed.

Fig. 14, in certain embodiments, S25 includes:

s253: judging whether lane-changing vehicles exist in the adjacent lanes of the target lane;

s254: if no lane-changing vehicle exists and the target lane has no rear vehicle collision behavior, determining that a lane-changing space of the target lane exists;

s255: if the lane-changing vehicle exists, judging whether the vehicle has collision behavior with the lane-changing vehicle at the changing moment;

s256: if not, determining that the target lane change space exists.

In some embodiments, S253-S256 may be implemented by control module 114. Alternatively stated, the control module 114 is configured to determine whether there is a lane change vehicle in the adjacent lane of the target lane, and to determine that there is a lane change space in the target lane if there is no lane change vehicle and there is no rear vehicle collision behavior in the target lane, and to determine that there is a collision behavior between the vehicle 1000 and the lane change vehicle at the time of the change if there is a lane change vehicle, and to determine that there is a lane change space in the target lane if there is no collision behavior.

In some embodiments, the processor is configured to determine whether there is a lane change vehicle in a lane adjacent to the target lane, and to determine that there is a lane change space in the target lane in the absence of a lane change vehicle and no rear vehicle collision behavior in the target lane, and to determine whether there is a collision behavior between the vehicle 1000 and the lane change vehicle at the time of the change in the presence of a lane change vehicle, and to determine that there is a lane change space in the target lane in the absence of a collision behavior.

Referring to fig. 15, specifically, in the lane change process, adjacent lanes of the target lane need to be considered in addition to the original lane and the target lane, and if the target lane has no adjacent lane, the road condition of the adjacent lane does not need to be considered. And if the adjacent lanes exist, the road condition of the lane needs to be considered. It will be appreciated that a vehicle traveling in an adjacent lane may also have a lane change to the target lane, during which there is a potential for a collision. Therefore, whether the lane change space exists in the target lane is actually determined by the target lane and the adjacent lane.

First, it is determined whether or not a traveling vehicle is present in the lane adjacent to the target lane, and if a traveling vehicle is present, it is determined whether or not a vehicle that has changed its lane to the target lane is also present in the adjacent lane within a predetermined range of the point where the vehicle 1000 is performing a lane change, and if there is no lane change vehicle and there is a lane change space in the target lane, the vehicle 1000 can be controlled to change its lane.

If there is a lane change lane between adjacent vehicles, it is determined whether the lane change vehicle collides with the vehicle 1000 in the target lane, and if there is no possibility of collision, the vehicle 1000 may be controlled to change lanes. If the collision is possible, the vehicle can wait for changing the lane to the target lane, and then whether the lane can be changed is judged by the way of judging the lane changing space of the target lane. Of course, the current lane change behavior may be terminated and the vehicle may continue to travel in the original lane.

Referring back to fig. 16, in certain embodiments, S30 includes:

s31: judging whether the original lane has a lane returning space or not according to the road information; and

s32: judging whether the original lane can plan a path or not according to the road information;

s40 includes:

s41: if the original lane has a lane returning space and can plan a path, determining that the lane returning condition is met, and controlling the vehicle to change from the target lane to the original lane for running.

In some embodiments, S31, S32 may be implemented by the lane-change module 116, and S41 may be implemented by the control module 114. That is, the lane returning module 116 is configured to determine whether a lane returning space exists in the original lane according to the road information and determine whether the original lane can plan a path according to the road information, and the control module 114 is configured to determine that a lane returning condition is met and control the vehicle to travel from the target lane to the original lane when the original lane has the lane returning space and can plan the path.

In some embodiments, the processor is configured to determine whether a turnaround space exists in the original lane according to the road information, determine whether the original lane can plan a path according to the road information, and determine that a turnaround condition is satisfied and control the vehicle to change from the target lane to the original lane to travel if the original lane has the turnaround space and can plan the path.

It will be appreciated that since the vehicle 1000 is still intended to travel straight, the lane change to the target lane is only to shorten the time for the congested section, and eventually the lane change back to the original lane.

Note that, in the present application, the original lane refers to a traffic lane before the lane change of the vehicle 1000 all the time without being distinguished by a currently traveling lane, that is, the lane return operation refers to an operation of changing the lane from the target lane back to the original lane.

Similar to lane-change operation, the lane-return operation also needs to be considered in terms of both space and path, i.e., whether there is sufficient lane-change space and whether the path can be planned so that the vehicle 1000 can be driven from the target lane back to the original lane.

Referring to fig. 17, in such an embodiment, S31 includes:

s311: selecting a reference vehicle;

s312: selecting a target road section, and comparing the running time difference of the reference vehicle and the vehicle passing through the target road section;

s313: and if the running time difference is larger than the preset running time difference, determining that the original lane has a lane returning space.

In some embodiments, S311-S313 may be implemented by the back channel module 116. In other words, the lane returning module 116 is used for selecting a reference vehicle and a target road segment, comparing the travel time difference between the reference vehicle and the target road segment, and determining that the original lane has a lane returning space when the travel time difference is greater than the predetermined travel time difference.

In some embodiments, the processor is configured to select a reference vehicle and to select a target road segment, and to compare travel time differences between the reference vehicle and the vehicle over the target road segment, and to determine that the original lane exists in the turnaround space if the travel time difference is greater than a predetermined travel time difference.

Specifically, the reference vehicle may be selected similarly to the aforementioned process of selecting the reference vehicle when determining whether there is a lane change space, and a vehicle flush with the body of the vehicle 1000 may be selected as the reference vehicle.

The target road segment may select a distance from the current location to the intersection, and compare the time difference between the reference vehicle and the road segment where the vehicle 1000 passes, that is, determine whether the time difference between the reference vehicle and the vehicle 1000 is enough for the vehicle 1000 to complete the action of changing the lane from the target vehicle to the original lane.

In the process that the vehicle 1000 changes the lane from the original lane to the target lane and then changes the lane back to the original lane, the traffic flow of the original lane is considered not to be suddenly changed, that is, not to be suddenly changed to be smaller than the target lane. On this basis, if the difference between the traveling time of the two vehicles is too small for the same target road segment on the two lanes, it can be considered that the traveling speeds on the two lanes are substantially the same and both are faster, and the original lane does not have enough time for the vehicle 1000 to complete the normal lane returning operation.

In the aspect of respective travel time estimation, in order to avoid the inaccuracy of single data estimation, the travel time of the reference time can be estimated together by combining the navigation of the vehicle in addition to the data of the high-precision map, and then the difference value of the two is compared. The predetermined travel time difference may be 3 s. That is, when the time for the reference vehicle to pass through the target section on the original lane is longer than the time for the vehicle 1000 to travel the same target section on the target lane by more than 3s, it may be considered that the original lane has a lane return space to change the lane of the vehicle 1000 to the original lane. That is, the vehicle 1000 can change lane to the original lane at a suitable timing when the target lane is driven to the intersection.

Referring to fig. 18, in such an embodiment, S32 includes:

s321: judging whether the space size of the return path space is enough or not;

s322: judging the lane line state of the target lane;

s323: and judging whether the original lane can plan the path or not according to the space size and the lane line state.

In some embodiments, S321-S323 may be implemented by the back track module 116. In other words, the lane returning module 116 is configured to determine whether the space size of the lane returning space is sufficient, determine the lane line state of the target lane, and determine whether the original lane can be used to plan the path according to the space size and the lane line state.

In some embodiments, the processor is configured to determine whether the space size of the return lane space is sufficient, determine the lane line type of the target lane, and determine whether the original lane can plan the path according to the space size and the lane line state.

Specifically, the size of the space may be considered as whether enough space is left in the original lane so that the vehicle 1000 may cut into. It can be understood that if the distance between the front and rear vehicles on the original lane is too close, the vehicle 1000 does not have enough space to complete the lane returning operation. In addition, during the course of returning, it is also necessary to judge the state of the lane line, for example, if the lane line is a broken line and the distance is enough, it is considered that the path planning of the returning road is possible, and if the lane line is a solid line or is a broken line currently but is already close to the solid line and is not enough to perform the returning operation, it is considered that the path planning is not possible.

Referring to fig. 19, in such an embodiment, S323 includes:

s3231: determining that the space size is sufficient when the space size enables a predetermined proportion of bodies of the vehicle to be cut in;

s3232: and under the condition that the lane line of the current position of the target lane is a broken line and the distance from the solid line is greater than a preset distance solid line threshold value, determining that the original lane can plan the path.

In some embodiments, S3231-S3232 may be implemented by the traceback module 116. In other words, the lane returning module 116 is configured to determine that the space size is sufficient when the space size enables a predetermined proportion of the bodies of the vehicles 1000 to be cut in, and determine that the original lane can plan the route if the lane line of the current location of the target lane is a broken line and the distance from the solid line is greater than a predetermined distance solid line threshold.

In some embodiments, the processor is configured to determine that the space size is sufficient when the space size enables a predetermined percentage of the bodies of the vehicle 1000 to be cut in, and to determine that the original lane is capable of planning a path if the lane line of the current location of the target lane is a dashed line and the distance from the solid line is greater than a predetermined distance solid line threshold.

Specifically, the determination of the size of the space may be based on parameters of the vehicle 1000 itself, such as the vehicle length, the vehicle width, and the turning radius. The size of the space may be considered sufficient when the size of the space enables half or more of the body of vehicle 1000 to cut into. And the state of the lane line should be that the current lane line is a broken line and the distance from the solid line is greater than the predetermined distance solid line threshold, wherein the predetermined distance solid line threshold may be 1m, and distances above 1m may be considered sufficient to implement the lane change operation.

When the above conditions are satisfied, the vehicle 1000 may be controlled to travel from the target lane to the original lane 1000.

In addition, when the judgment space is insufficient, but the lane line state meets the condition and is at the critical edge of the judgment value, the vehicle can be controlled to gradually approach the original lane, and the vehicle is stopped to wait for a proper space, so that the situation that the vehicle continues to drive and misses the return lane is prevented.

Referring to fig. 20, in some embodiments, S40 includes:

s42: controlling the head part of the vehicle to drive into the original lane;

s43: performing lane change reminding on surrounding vehicles to send a lane change request;

s44: and controlling the vehicle to change from the target lane to the original lane when the peripheral vehicle allows the lane change request.

In some embodiments, the driving control device 110 further comprises a reminder module. S42, S44 may be implemented by the control module 114, and S43 may be implemented by the reminder module. Or, the control module 114 is configured to control the head portion of the vehicle 1000 to drive into the original lane, the reminding module is configured to perform lane change reminding on the neighboring vehicle to issue a lane change request, and the control module 114 is further configured to control the vehicle 1000 to change from the target lane to the original lane when the neighboring vehicle allows the lane change request.

In some embodiments, the processor is configured to control the head portion of the vehicle 1000 to move into the original lane, and to perform a lane change reminder for the nearby vehicle to issue a lane change request, and to control the vehicle 1000 to change from the target lane to the original lane in a case where the nearby vehicle allows the lane change request.

Specifically, in the case where it is determined that the return space exists in the original lane and the path can be planned, the vehicle 1000 may be controlled to perform the return operation. In the lane returning process, similar to the operation of changing lanes to the target lane, whether the original lane and the target lane have lane changing spaces or not is judged respectively. The manner of determining whether there is a lane change space may refer to the explanation of the aforementioned relevant section, for example, for the target lane, it is determined whether the vehicle 1000 meets the requirement for the vehicle distance from the preceding vehicle and whether there is a back-rolling behavior of the preceding vehicle. And judging whether the vehicle runs, whether the rear vehicle has the possibility of collision behavior and whether the rear vehicle has the possibility of entering the blind area range for the original lane.

After the above-mentioned series of determinations and confirmation of the possibility of driving back to the original lane, the head of the vehicle can be driven into the original lane, and the surrounding vehicles can be prompted by the lane change reminder through the related electronic components of the vehicle, such as but not limited to, illuminating the turn signal to prompt the surrounding vehicles, and the prompting sound includes a whistle or other voice prompt, and when the vehicle has a rear display device, such as one disposed at the rear wind shielding position, the surrounding vehicles can be prompted by displaying related characters, such as "need to change, ask for understanding", and the like.

Of course, when the target lane is a side road, pedestrians may be encountered in the lane changing and returning processes, and in this case, the pedestrians are used for the priority to the road, so as to ensure the traffic safety.

Other vehicle permission, which means other vehicle deceleration and passing, may enable the vehicle 1000 to change lanes to the original lane.

It will be appreciated that the above process may be performed by the vehicle's autonomous driving system, or may be performed by the driver. When the lane change operation is completed by the driver, the vehicle can prompt the driver through the related operation nodes so as to assist the driver in completing the lane change operation.

The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the vehicle control method of any of the above embodiments.

The embodiment of the application also provides a vehicle. The vehicle includes a lidar, a memory, and one or more processors, one or more programs being stored in the memory and configured to be executed by the one or more processors. The program includes a program for executing the driving control method according to any one of the above embodiments.

The processor may be used to provide computational and control capabilities to support the operation of the entire vehicle. Memory in the vehicle provides an environment for the computer readable instructions in the memory to operate.

The driving control method is applied to the vehicle and can be used for providing a safer and more convenient lane change scheme for realizing automatic driving of the vehicle.

It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A driving control method is characterized by comprising the following steps:

2. The vehicle driving control method according to claim 1, wherein the determining whether the target lane adjacent to the original lane on which the vehicle is traveling satisfies the lane change condition based on the road information includes:

3. The vehicle driving control method according to claim 2, wherein the determining whether the target lane is clear according to the road information includes:

selecting a reference vehicle;

4. The driving control method according to claim 2, wherein the determining whether the target lane can plan a path according to the road information includes:

determining the lane line type of the original lane;

5. The driving control method according to claim 1, wherein the controlling the vehicle to change from the original lane to the target lane to drive if the lane change condition is satisfied comprises:

judging whether an original lane change space exists or not;

judging whether the front vehicle of the vehicle has a back-slip behavior;

6. The driving control method according to claim 1, wherein the determining whether the original lane meets a lane returning condition according to the road information comprises:

7. The method as claimed in claim 1, wherein the controlling the vehicle to change from the target lane to the original lane if the lane-returning condition is satisfied comprises:

controlling the head part of the vehicle to drive into the original lane;

8. A traveling control device, characterized by comprising:

9. The vehicle operation control device according to claim 8, wherein the lane change module is configured to:

10. The vehicle motion control device of claim 8, wherein the control module is configured to:

judging whether an original lane change space exists or not;

judging whether the front vehicle of the vehicle has a back-slip behavior;

11. A vehicle, characterized by comprising:

one or more processors, memory; and

one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs comprising instructions for performing the method of driving control according to any one of claims 1-7.

12. A non-transitory computer-readable storage medium of computer-executable instructions which, when executed by one or more processors, cause the processors to perform the method of vehicular traffic control of any of claims 1-7.