CN111572547A

CN111572547A - Method and device for controlling lane change of automobile and storage medium

Info

Publication number: CN111572547A
Application number: CN202010234899.9A
Authority: CN
Inventors: 程超; 周伟; 陈淄博; 尹剑
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2020-03-30
Filing date: 2020-03-30
Publication date: 2020-08-25

Abstract

The application discloses a lane change control method and device of an automobile and a storage medium, and belongs to the technical field of vehicle engineering. The method comprises the following steps: acquiring environmental information of an environment where an automobile is located through a microwave radar and a camera which are installed on the automobile; when lane changing operation is detected, determining whether the automobile meets lane changing conditions or not according to the environment information; and when the automobile meets the lane changing condition, controlling the automobile to change lanes. In this application, the car can acquire the environmental information of the environment that the car is located, and when confirming the car satisfies the lane change condition according to environmental information, control car automatic lane change, the condition of dangerous car in the driver's lane change in-process can't observe the car blind area has been improved, and the driver is for carrying out the loaded down with trivial details operation of lane change, the work load that has alleviateed the driver has improved the efficiency and the security that the car changes the lane, the possibility that the traffic accident takes place has been reduced.

Description

Method and device for controlling lane change of automobile and storage medium

Technical Field

The present disclosure relates to the field of vehicle engineering technologies, and in particular, to a lane change control method and apparatus for an automobile, and a storage medium.

Background

With the development of technology, automobiles have become the main transportation tool for people. But as the number of automobiles increases, traffic accidents are more and more frequent. Among them, one of the causes of traffic accidents is lane change of automobiles.

At present, when an automobile changes lanes, a driver needs to manually turn on a steering lamp and observe the distance between a rear automobile and the automobile, and when the rear automobile is far away from the automobile, the lane can be changed. However, the driver may forget to observe the rear vehicle, and the lane change may cause the vehicle to collide with the rear vehicle, thereby causing a traffic accident.

Disclosure of Invention

The application provides a lane change control method and device for an automobile and a storage medium, which can solve the problems of complex lane change operation, low lane change efficiency and poor lane change safety in the related art. The technical scheme is as follows:

in one aspect, a lane change control method for an automobile is provided, the method including:

acquiring environmental information of an environment where an automobile is located through a microwave radar and a camera which are installed on the automobile;

when lane changing operation is detected, determining whether the automobile meets lane changing conditions or not according to the environment information;

and when the automobile meets the lane changing condition, controlling the automobile to change lanes.

In some embodiments, the determining whether the automobile meets a lane change condition according to the environment information includes:

carrying out image detection on the environment information;

when detecting that other automobiles exist in the lane indicated by the lane changing operation and the distance between the other automobiles and the automobile is smaller than or equal to a safe distance threshold value, determining that the lane changing condition of the automobile is not met;

when it is detected that no other automobile exists in the lane indicated by the lane changing operation, or the other automobile exists and the distance between the other automobile and the automobile is larger than the safe distance threshold value, determining that the automobile meets the lane changing condition.

In some embodiments, after determining whether the vehicle satisfies the lane change condition, the method further includes:

and when the automobile does not meet the lane change condition, controlling the automobile to stop lane change, and returning to the operation of acquiring the environmental information acquired by a microwave radar and a camera which are installed on the automobile until the automobile meets the lane change condition.

In some embodiments, after controlling the automobile to stop changing lanes when the automobile does not satisfy the lane change condition, the method further includes:

and prompting the driver to change the lane in the current environment to have safety risk through the first prompt message.

In some embodiments, after controlling the automobile to change lanes when the automobile meets the lane change condition, the method further includes:

and when the driver of the automobile is not detected to take over the automobile within the preset time after the lane change is finished, prompting the driver to take over the automobile through second prompt information.

in the process of controlling the automobile to change lanes, when other automobiles enter the environment detection area of the automobile, controlling the automobile to stop changing lanes; and/or the presence of a gas in the gas,

and in the process of controlling the automobile to change lanes, when a lane change stopping instruction is received, controlling the automobile to stop changing lanes.

In another aspect, there is provided a lane change control apparatus of an automobile, the apparatus including:

the acquisition module is used for acquiring environmental information of the environment where the automobile is located through a microwave radar and a camera which are installed on the automobile;

the determining module is used for determining whether the automobile meets a lane changing condition according to the environment information when the lane changing operation is detected;

the first control module is used for controlling the automobile to change lanes when the automobile meets lane changing conditions.

In some embodiments, the determining module comprises:

the detection submodule is used for carrying out image detection on the environment information;

the first determining submodule is used for determining that the lane change condition is not met when other automobiles exist in the lane indicated by the lane change operation and the distance between the other automobiles and the automobile is smaller than or equal to a safe distance threshold value;

and the second determining submodule is used for determining that the lane change condition of the automobile is met when other automobiles do not exist in the lane indicated by the lane change operation or other automobiles exist and the distance between the other automobiles and the automobile is larger than the safe distance threshold value.

In some embodiments, the apparatus further comprises:

and the triggering module is used for controlling the automobile to stop lane changing when the automobile does not meet the lane changing condition, and triggering the acquisition module to acquire the environmental information acquired by the microwave radar and the camera which are installed on the automobile until the automobile meets the lane changing condition.

In some embodiments, the apparatus further comprises:

and the first prompt module is used for prompting that the driver has safety risk in lane change in the current environment through the first prompt information.

In some embodiments, the apparatus further comprises:

and the second prompt module is used for prompting the driver to take over the automobile through second prompt information when the driver of the automobile is not detected to take over the automobile within the preset time after the lane change is finished.

In some embodiments, the apparatus further comprises:

the second control module is used for controlling the automobile to stop lane changing when other automobiles enter the environment detection area of the automobile in the process of controlling the automobile to change lanes; and/or the presence of a gas in the gas,

and the third control module is used for controlling the automobile to stop lane changing when receiving a lane changing stopping instruction in the process of controlling the automobile to change lanes.

In another aspect, an automobile is provided, where the automobile includes a memory for storing a computer program and a processor for executing the computer program stored in the memory to implement the steps of the lane change control method of the automobile.

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, implements the steps of the lane change control method for an automobile described above.

In another aspect, a computer program product containing instructions is provided, which when run on a computer causes the computer to perform the steps of the lane change control method of an automobile as described above.

The technical scheme provided by the application can at least bring the following beneficial effects:

in this application, the car can acquire the environmental information of the environment that the car is located, and when confirming the car satisfies the lane change condition according to environmental information, control car automatic lane change, the condition of dangerous car in the driver's lane change in-process can't observe the car blind area has been improved, and the driver is for carrying out the loaded down with trivial details operation of lane change, the work load that has alleviateed the driver has improved the efficiency and the security that the car changes the lane, the possibility that the traffic accident takes place has been reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic diagram of a lane change control system of an automobile according to an embodiment of the present disclosure;

FIG. 2 is a flowchart illustrating a lane-change control method for an automobile according to an embodiment of the present disclosure;

FIG. 3 is a flow chart of another lane-change control method for a vehicle according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a lane change control device of an automobile according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a determination module provided in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of another lane-change control apparatus for an automobile according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of another lane-change control apparatus for an automobile according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of another lane-change control apparatus for an automobile according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of another lane-change control apparatus for an automobile according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of an automobile according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the lane change control method of the automobile provided by the embodiment of the present application in detail, an application scenario and a system architecture provided by the embodiment of the present application are introduced.

First, an application scenario related to the embodiment of the present application is described.

With the development of technology, automobiles have become the main transportation tool for people. But as the number of automobiles increases, traffic accidents are more and more frequent. Among them, one of the causes of traffic accidents is lane change of automobiles. At present, when a driver has a lane change requirement, the driver can manually turn on a steering lamp, and simultaneously, whether the rear part of the vehicle is safe enough or not is determined through observation, so that the lane change requirement is met or not. The lane change process is relatively cumbersome. In addition, because the blind area exists in the automobile sometimes, the driver may not observe the rear automobile or the driver observes the rear microscopically, and the lane change at the moment can cause the automobile to collide with the rear automobile, so that traffic accidents are caused.

Based on the application scene, the lane change control method for the automobile improves lane change safety and efficiency.

Finally, a system architecture related to the embodiments of the present application is introduced.

Fig. 1 is a schematic diagram of a lane-changing Control system architecture of an automobile according to an embodiment of the present disclosure, and referring to fig. 1, the system architecture includes a controller 1, a microwave radar 2, a camera 3, an ESP (Electronic Stability Program) 4, an EPS (Electronic Power Steering) 5, an MCU (micro controller Unit) 6, and a TCU (Transmission Control Unit) 7, where the controller 1 may be connected to the microwave radar 2, the camera 3, the ESP4, the EPS5, the MCU6, and the TCU7, respectively.

As an example, the microwave radar 2 and the camera 3 may be used to collect environmental information around the automobile and transmit the collected environmental information to the controller 1; the controller 1 may be configured to determine whether the vehicle satisfies a lane change condition according to the environment information when a lane change operation is detected, and control the ESP4, the EPS5, the MCU6, the TCU7, and the like in the vehicle to complete the lane change of the vehicle when the vehicle satisfies the lane change condition.

It should be understood by those skilled in the art that the foregoing system architecture is merely exemplary, and other existing or future architectures, such as components, modules, etc., that may be used with the present application are also included within the scope of the present application and are hereby incorporated by reference.

Next, a lane change control method for an automobile according to an embodiment of the present application will be explained in detail with reference to the drawings.

Fig. 2 is a flowchart of a lane change control method for an automobile according to an embodiment of the present application, where the method is applied to an automobile. Referring to fig. 2, the method includes the following steps.

Step 201: the method comprises the steps of obtaining environmental information of an environment where an automobile is located through a microwave radar and a camera which are installed on the automobile.

Step 202: and when the lane changing operation is detected, determining whether the automobile meets the lane changing condition or not according to the environment information.

Step 203: and when the automobile meets the lane change condition, controlling the automobile to change lanes.

In some embodiments, determining whether the vehicle satisfies a lane change condition based on the environmental information includes:

carrying out image detection on the environment information;

and when detecting that no other automobile exists in the lane indicated by the lane changing operation, or the other automobile exists and the distance between the other automobile and the automobile is greater than the safe distance threshold value, determining that the automobile meets the lane changing condition.

In some embodiments, after determining whether the vehicle satisfies the lane change condition, the method further comprises:

and when the automobile does not meet the lane change condition, controlling the automobile to stop lane change, and returning to the operation of acquiring the environmental information acquired by the microwave radar and the camera which are installed on the automobile until the automobile meets the lane change condition.

In some embodiments, after controlling the vehicle to stop changing lanes when the vehicle does not satisfy the lane change condition, the method further includes:

In some embodiments, after controlling the vehicle to change lanes when the vehicle meets the lane change condition, the method further includes:

in the process of controlling the automobile to change lanes, when the automobile drives into other automobiles in the environment detection area of the automobile, controlling the automobile to stop changing lanes; and/or the presence of a gas in the gas,

and in the process of controlling the automobile to change lanes, when a command of stopping lane changing is received, controlling the automobile to stop lane changing.

All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.

Fig. 3 is a flowchart of a lane change control method of an automobile according to an embodiment of the present application, and referring to fig. 3, the method includes the following steps.

Step 301: the automobile acquires the environmental information of the environment where the automobile is located through a microwave radar and a camera which are installed on the automobile.

After the automobile is ignited, the driver can continue to change the lane at any time according to the current road condition, and whether the lane change of the automobile is safe or not is related to the environment condition of the automobile. Therefore, in order to safely change lanes of the automobile, the automobile can acquire environmental information of the environment where the automobile is located through a microwave radar and a camera which are installed on the automobile.

As an example, in order to be able to acquire the environmental information in time, the automobile may acquire the environmental information in real time during driving, may acquire the environmental information every specified time interval, and/or may acquire the environmental information when a lane change instruction is received.

It should be noted that the lane change instruction may be triggered by a driver acting on a display screen, an instruction button, a key, a switch, or the like of the automobile through a specified operation, where the specified operation may be a click operation, a slide operation, a toggle operation, a twist operation, a voice operation, or the like. For example, the specified operation may be an operation of dialing a turn signal.

It should be noted that the specified time interval can be set in advance according to the requirement, for example, the specified time interval can be 5 minutes, 3 minutes, 1 minute, and so on.

Step 302: when the automobile detects lane changing operation, whether the automobile meets lane changing conditions is determined according to the environmental information.

Because the automobile may not be dangerous or dangerous when changing lanes in the current environment, the automobile needs to determine whether the automobile meets the lane changing condition according to the environmental information when detecting the lane changing operation in order to avoid the danger in the lane changing process.

It should be noted that the lane change operation may include receiving a lane change instruction, receiving a lane change control operation of a steering wheel, and the like.

As an example, the operation of the automobile determining whether the automobile satisfies the lane change condition according to the environment information may be: carrying out image detection on the environment information; when other automobiles exist in the lane indicated by the lane changing operation and the distance between the other automobiles and the automobile is smaller than or equal to the safety distance threshold value, determining that the automobile does not meet the lane changing condition; and when detecting that no other automobile exists in the lane indicated by the lane changing operation, or other automobiles exist and the distance between the other automobiles and the automobile is greater than the safe distance threshold value, determining that the automobile meets the lane changing condition.

When the lane indicated by the lane changing operation is detected to be provided with other automobiles, and the distance between the other automobiles and the automobile is larger than the safe distance threshold value, the automobile is determined to meet the lane changing condition; when other automobiles exist in the lane indicated by the lane changing operation and the distance between the other automobiles and the automobile is smaller than or equal to the safe distance threshold value, the lane changing of the automobile is indicated to be in a collision risk, and therefore the fact that the automobile does not meet the lane changing condition can be determined.

It should be noted that the safe distance may be set in advance according to requirements, and the safe distance may meet the corresponding national standard, for example, the safe distance may be 3 meters, 4 meters, and so on.

In some embodiments, since there may be a dangerous car in the lane indicated by the lane change operation, and at this time, if the driver wants to change the lane, a traffic accident may occur, so when there is a dangerous car in the lane indicated by the lane change operation, that is, when the car does not satisfy the lane change condition, the car is controlled to stop changing the lane, and the operation of step 301 is returned to until the car satisfies the lane change condition, and then the operation of step 303 is performed. That is, when the vehicle does not satisfy the lane change condition, the vehicle may suspend the lane change operation and continuously detect the environmental information around the vehicle, and when it is determined that the vehicle satisfies the lane change condition according to the environmental information, the vehicle may be continuously controlled to perform the lane change operation.

As an example, since the automobile does not change the lane, the driver may be suspected of having a problem with the automobile, and the automobile perceptibility and the automobile viscosity of the driver are reduced, so that, in order to avoid such a problem, when the automobile does not meet the lane change condition, after the automobile is controlled to stop changing the lane, the automobile may prompt the driver to change the lane in the current environment through the first prompt message, so as to avoid the safety risk.

As an example, the car may be prompted by the states of the alarm bell and the alarm lamp, for example, when there is one alarm lamp, the car may be prompted by flashing or flashing the alarm lamp, when there are two alarm lamps, if there is a dangerous car in the left lane and the left lane needs to be changed to the left, the car may be prompted by flashing or flashing the left alarm lamp, and if there is a dangerous car in the right lane and the car needs to be changed to the right, the car may be prompted by flashing or flashing the right alarm lamp; and/or, two alarm lamps are flashed or normally lighted at the same time; and/or the automobile can also display the first prompt message on the instrument or the display screen.

Step 303: and when the automobile meets the lane changing condition, controlling the automobile to change lanes.

As an example, when the automobile controls the automobile to change lanes, the automobile may obtain steering information of the automobile, where the steering information includes steering angle information and a steering direction; and controlling a steering lamp of the automobile to be turned on according to the steering direction, and controlling a steering wheel of the automobile to rotate according to the corner information so as to finish lane change control of the automobile.

Note that the steering direction may be obtained after detecting the lane change operation. The rotation angle information may be set in advance according to requirements, for example, the rotation angle information may be 3 degrees, 5 degrees, 6 degrees, and the like. Of course, since the vehicle may have a certain angle of the steering wheel before controlling the steering wheel to rotate, the steering angle information may be determined according to the difference between the reference steering angle and the current angle of the steering wheel. That is, the current angle of the steering wheel is subtracted from the reference angle of rotation to obtain the angle of rotation information. The reference rotation angle may be set in advance according to the requirement. For example, the reference rotation angle may be 5 degrees, 10 degrees, or the like. When the current angle of the steering wheel is 3 degrees, the rotation angle information may be 2 degrees, 7 degrees, or the like.

In some embodiments, when the vehicle meets the lane change condition, the driver is required to take over the vehicle in time for driving safety after controlling the vehicle to change lanes. Therefore, whether the automobile is taken over by the driver can be detected within the preset time after the lane change is finished, and when the automobile is not taken over by the driver who detects the automobile, the driver can be prompted to take over the automobile through the second prompt information.

It should be noted that the automobile may prompt in a manner that the second prompt message and/or the meter and the second prompt message are/is displayed on the display screen through voice. And/or the driver is prompted by the alarm bell in a normal sounding mode, namely, when the driver does not take the automobile, the alarm bell rings, and when the driver takes over the automobile, the alarm bell stops.

In some embodiments, because some dangerous vehicles with a relatively high speed may approach the vehicle in the lane changing process of the vehicle, whether other dangerous vehicles approach the vehicle may also be detected in the lane changing process of controlling the vehicle, and when the vehicle enters another vehicle in the environment detection area, the vehicle is controlled to stop lane changing, or the vehicle is controlled to return to the original lane. And/or the driver may not want to change lane midway and performs the lane change termination operation, so that the driver can control the automobile to terminate the lane change or control the automobile to return to the original lane when receiving the lane change termination instruction in the process of controlling the automobile to change the lane.

It should be noted that the environment detection area may be an area within the detection range of the microwave radar and the camera.

In some embodiments, the automobile may have a fault, and when the automobile has a fault, the accuracy of the detection of the environmental information or the safety of lane change may not be ensured, so that before the detection of the environmental information of the automobile, the safety self-inspection of the automobile can be performed to obtain the self-inspection information of the automobile; when it is determined that the vehicle is in a safe state based on the self-inspection information of the vehicle, the operation of step 301 described above is performed.

It should be noted that the self-check of the automobile may include self-check of each system, circuit, engine, oil tank, etc. in the automobile, and the self-check information may be information on whether each system is in a normal state, information on whether the circuit is safe, information on whether the engine is in a normal state, information on whether the oil tank is in a normal state, etc.

As a practical example, when it is determined that the vehicle is not in the safe state based on the vehicle self-inspection information, a third prompt message may be used to prompt that the vehicle self-inspection is not qualified and the vehicle is currently in the unsafe state, and a fault code is recorded, where the third prompt message is used to describe fault information.

It should be noted that the automobile may prompt in a manner that the third prompt information is played by voice or displayed by an instrument or a display screen.

In the embodiment of the application, the automobile can acquire the environmental information of the environment where the automobile is located, and when the automobile meets the lane changing condition according to the environmental information, the automobile is controlled to automatically change the lane, and when the lane changing condition is not met, the lane changing operation of the automobile can be suspended, and the lane changing is carried out again when the passing lane condition is met. The situation that a driver cannot observe dangerous automobiles in the automobile blind area in the lane changing process is improved, the fussy operation that the driver manually changes lanes is improved, the workload of the driver is reduced, the lane changing efficiency and safety of the automobile are improved, and the possibility of traffic accidents is reduced.

After explaining the lane change control method for the automobile provided in the embodiment of the present application, a lane change control device for the automobile provided in the embodiment of the present application will be described next.

Fig. 4 is a schematic structural diagram of a lane change control device of an automobile according to an embodiment of the present disclosure, which may be implemented by software, hardware, or a combination of the two as part or all of the automobile. Referring to fig. 4, the apparatus includes: an acquisition module 401, a determination module 402 and a first control module 403.

The acquisition module 401 is configured to acquire environment information of an environment where an automobile is located through a microwave radar and a camera mounted on the automobile;

a determining module 402, configured to determine whether the automobile meets a lane change condition according to the environment information when a lane change operation is detected;

a first control module 403, configured to control the vehicle to change lanes when the vehicle meets a lane change condition.

In some embodiments, referring to fig. 5, the determining module 402 comprises:

the detection submodule 4021 is used for performing image detection on the environment information;

the first determining sub-module 4022 is configured to determine that the lane change condition is not met by the automobile when it is detected that there is another automobile in the lane indicated by the lane change operation and the distance between the another automobile and the automobile is smaller than or equal to a safe distance threshold;

the second determining sub-module 4023 is configured to determine that the lane change condition is satisfied when it is detected that no other automobile exists in the lane indicated by the lane change operation, or that the other automobile exists and the distance between the other automobile and the automobile is greater than the safe distance threshold.

In some embodiments, referring to fig. 6, the apparatus further comprises:

the triggering module 404 is configured to control the automobile to stop changing lanes when the automobile does not meet the lane changing condition, and trigger the obtaining module 401 to obtain the environmental information collected by the microwave radar and the camera mounted on the automobile until the automobile meets the lane changing condition.

In some embodiments, referring to fig. 7, the apparatus further comprises:

and the first prompt module 405 is used for prompting the driver that the lane change in the current environment has a safety risk through the first prompt information.

In some embodiments, referring to fig. 8, the apparatus further comprises:

and the second prompt module 406 is configured to prompt the driver to take over the automobile through second prompt information when the driver of the automobile is not detected to take over the automobile within a preset time after the lane change is finished.

In some embodiments, referring to fig. 9, the apparatus further comprises:

the second control module 407 is configured to, in a process of controlling the automobile to change lanes, control the automobile to terminate lane changing when another automobile enters the environment detection area of the automobile; and/or the presence of a gas in the gas,

and the third control module 408 is configured to control the automobile to terminate lane changing when a lane changing termination instruction is received in a process of controlling the automobile to perform lane changing.

It should be noted that: the lane change control device for an automobile provided in the above embodiment is only illustrated by dividing the functional modules when controlling lane change of the automobile, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the functions described above. In addition, the lane change control device for the automobile and the lane change control method embodiment for the automobile provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment and are not described herein again.

Fig. 10 is a block diagram of an automobile 1000 according to an embodiment of the present application. Generally, the automobile 1000 includes: a processor 1001 and a memory 1002.

Processor 1001 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The processor 1001 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1001 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also referred to as a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1001 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 1001 may further include an AI (Artificial Intelligence) processor for processing a computing operation related to machine learning.

Memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1002 is configured to store at least one instruction for execution by the processor 1001 to implement the lane-change control method for an automobile provided by the method embodiments of the present application.

In some embodiments, the vehicle 1000 may further include: a peripheral interface 1003 and at least one peripheral. The processor 1001, memory 1002 and peripheral interface 1003 may be connected by a bus or signal line. Various peripheral devices may be connected to peripheral interface 1003 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1004, display screen 1005, camera assembly 1006, audio circuitry 1007, positioning assembly 1008, and power supply 1009.

The peripheral interface 1003 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 1001 and the memory 1002. In some embodiments, processor 1001, memory 1002, and peripheral interface 1003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1001, the memory 1002, and the peripheral interface 1003 may be implemented on separate chips or circuit boards, which are not limited by this embodiment.

The Radio Frequency circuit 1004 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 1004 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 1004 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1004 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuit 1004 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 1004 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 1005 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1005 is a touch display screen, the display screen 1005 also has the ability to capture touch signals on or over the surface of the display screen 1005. The touch signal may be input to the processor 1001 as a control signal for processing. At this point, the display screen 1005 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 1005 may be one, providing the front panel of the automobile 1000; in other embodiments, the display screens 1005 may be at least two, respectively disposed on different surfaces of the automobile 1000 or in a folded design; in still other embodiments, the display 1005 may be a flexible display disposed on a curved surface or on a folded surface of the automobile 1000. Even more, the display screen 1005 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display screen 1005 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and the like.

The camera assembly 1006 is used to capture images or video. Optionally, the camera assembly 1006 includes any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to implement a background blurring function implemented by the fusion of the main camera and the depth-of-field camera, implement a panoramic shooting function and a VR (Virtual Reality) shooting function implemented by the fusion of the main camera and the wide-angle camera, or implement other fusion shooting functions. In some embodiments, camera assembly 1006 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuit 1007 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1001 for processing or inputting the electric signals to the radio frequency circuit 1004 for realizing voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and located in different locations of the vehicle 1000. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 1001 or the radio frequency circuit 1004 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuit 1007 may also include a headphone jack.

The positioning component 1008 is used to locate a current geographic location of the automobile 1000 to implement navigation or LBS (location based Service). The positioning component 1008 may be a positioning component based on the GPS (global positioning System) in the united states, the beidou System in china, or the galileo System in russia.

The power supply 1009 is used to supply power to various components in the automobile 1000. The power source 1009 may be alternating current, direct current, disposable batteries, or rechargeable batteries. When the power source 1009 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the vehicle 1000 also includes one or more sensors 1010.

Those skilled in the art will appreciate that the configuration shown in fig. 10 is not intended to be limiting of the vehicle 1000 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.

In some embodiments, a computer-readable storage medium is also provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the lane change control method of the automobile in the above embodiments. For example, the computer-readable storage medium may be a ROM (Read-Only Memory), a RAM (random access Memory), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

It is noted that the computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.

It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the lane change control method of an automobile described above.

The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A lane change control method for an automobile, the method comprising:

2. The method of claim 1, wherein said determining whether the vehicle satisfies a lane change condition based on the environmental information comprises:

carrying out image detection on the environment information;

3. The method of claim 1 or 2, wherein after determining whether the vehicle satisfies a lane change condition, further comprising:

4. The method of claim 3, wherein after controlling the vehicle to stop changing lanes when the vehicle does not satisfy the lane change condition, further comprising:

5. The method of claim 1, wherein after controlling the vehicle to make a lane change when the vehicle satisfies a lane change condition, further comprising:

6. The method of claim 1, wherein after controlling the vehicle to make a lane change when the vehicle satisfies a lane change condition, further comprising:

7. A lane change control apparatus of an automobile, characterized in that the apparatus comprises:

8. The apparatus of claim 7, wherein the determining module comprises:

9. The apparatus of claim 7 or 8, wherein the apparatus further comprises:

10. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.