CN113239470A

CN113239470A - Simulation control method and device for vehicle lane changing, storage medium and electronic equipment

Info

Publication number: CN113239470A
Application number: CN202110664597.XA
Authority: CN
Inventors: 杜海宁
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-06-16
Filing date: 2021-06-16
Publication date: 2021-08-10

Abstract

The embodiment of the application provides a vehicle lane change simulation control method and device, a storage medium and electronic equipment, and relates to the technical field of intelligent traffic. The method can control a target simulation vehicle to run on a first simulation lane in a simulation area, when it is determined that the simulation area has an intersection in the running direction of the target simulation vehicle, a plurality of distance parameters of the target simulation vehicle are determined based on vehicle parameters of the target simulation vehicle, a lane change instruction of the target simulation vehicle is determined according to the plurality of distance parameters, if the lane change instruction indicates that the target simulation vehicle changes lanes from the first simulation lane to the target simulation lane, a lane change control condition of the target simulation vehicle is obtained, and if the target simulation vehicle meets the lane change control condition, the target simulation vehicle is controlled to change lanes from the first simulation lane to the target simulation lane. Because a plurality of distance parameters are introduced to carry out analog simulation on the lane changing behavior of the vehicle, the difference between a simulation result and actual application can be reduced, and the accuracy of the simulation result is improved.

Description

Simulation control method and device for vehicle lane changing, storage medium and electronic equipment

Technical Field

The embodiment of the application relates to the technical field of intelligent traffic, in particular to a vehicle lane change simulation control method and device, a storage medium and electronic equipment.

Background

Nowadays, with the increasing development of artificial intelligence, the application of artificial intelligence technology in life is more and more extensive, including the application in automatic driving technology. The automatic driving technology is applied to an actual road, so that the running safety of the vehicle can be ensured while the running speed of the vehicle is ensured to be higher.

In the related art, in order to maintain the better performance of the automatic driving technology in practical application, simulation experiments can be performed in traffic simulation software before practical application. When the lane changing behavior of the vehicle in front of the simulated simulation intersection is performed, the vehicle changes lanes according to a fixed lane changing mode, and a simulation model is performed according to preset lane changing parameters.

However, in the related art, both the lane change behavior and the lane change parameters cannot be flexibly changed according to the actual situation, and the ideal lane change situation can be simulated only by the fixed model, so that the simulation result has a large difference from the actual application, and the accuracy of the simulation result is poor.

Disclosure of Invention

In order to solve the technical problems in the related art, embodiments of the present application provide a method and an apparatus for controlling lane change of a vehicle, a storage medium, and an electronic device, which can provide a simulation scheme for controlling lane change of a vehicle in front of an intersection, thereby improving accuracy of a simulation result for controlling lane change of the vehicle.

In order to achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

in a first aspect, an embodiment of the present application provides a simulation control method for lane changing of a vehicle, where the method includes:

controlling a target simulation vehicle to run on a first simulation lane in a simulation area, wherein the simulation area comprises at least two simulation lanes in the same direction;

when the simulation area is determined to have an intersection in the driving direction of the target simulation vehicle, determining a plurality of distance parameters of the target simulation vehicle based on the vehicle parameters of the target simulation vehicle, and determining a lane change instruction of the target simulation vehicle according to the distance parameters; the vehicle parameters are used for indicating the degree of aggressiveness of the corresponding simulated vehicle;

if the lane changing instruction indicates that the target simulation vehicle changes lanes from the first simulation lane to a target simulation lane, obtaining lane changing control conditions of the target simulation vehicle;

and if the target simulation vehicle meets the lane changing control condition, controlling the target simulation vehicle to change the lane from the first simulation lane to the target simulation lane.

In a second aspect, an embodiment of the present application further provides a simulation control device for lane changing of a vehicle, where the device includes:

the driving control unit is used for controlling a target simulation vehicle to drive on a first simulation lane in a simulation area, and the simulation area comprises at least two simulation lanes in the same direction;

the instruction determining unit is used for determining a plurality of distance parameters of the target simulation vehicle based on the vehicle parameters of the target simulation vehicle when the simulation area is determined to have an intersection in the driving direction of the target simulation vehicle, and determining a lane changing instruction of the target simulation vehicle according to the distance parameters; the vehicle parameters are used for indicating the degree of aggressiveness of the corresponding simulated vehicle;

the condition obtaining unit is used for obtaining a lane changing control condition of the target simulation vehicle if the lane changing instruction indicates that the target simulation vehicle changes lanes from the first simulation lane to a target simulation lane;

and the control lane changing unit is used for controlling the target simulation vehicle to change the lane from the first simulation lane to the target simulation lane if the target simulation vehicle meets the lane changing control condition.

In an optional embodiment, the apparatus further comprises a model building unit for:

after the target simulation vehicle is controlled to change the lane from the first simulation lane to the target simulation lane, obtaining a simulation result corresponding to the target simulation vehicle;

and establishing a vehicle lane change simulation model based on the simulation results respectively corresponding to the target simulation vehicles.

In an alternative embodiment, the plurality of distance parameters of the target simulated vehicle are inversely related to the aggressiveness of the target simulated vehicle.

In an alternative embodiment, the plurality of distance parameters includes a first distance parameter, a second distance parameter, and a third distance parameter, and the third distance parameter is greater than the second distance parameter, which is greater than the first distance parameter; the instruction determining unit is specifically configured to:

if the distance between the target simulation vehicle and the intersection is smaller than the first distance parameter, determining that the lane change instruction of the target simulation vehicle is as follows: the target simulated vehicle continues to run along the first simulated lane;

if the distance between the target simulation vehicle and the intersection is greater than the first distance parameter and not greater than the third distance parameter, determining whether the first simulation lane is a path simulation lane; the path simulation lane is a simulation lane corresponding to the target simulation vehicle driving to the set intersection turning direction;

if not, determining that the lane change instruction of the target simulation vehicle is as follows: changing the target simulated vehicle from the first simulated lane to the target simulated lane; the target simulation lane is any one simulation lane selected from the path simulation lanes;

and if so, determining a lane change instruction of the target simulated vehicle according to the congestion condition of the first simulated lane.

In an optional embodiment, the instruction determining unit is further configured to:

if the congestion condition of the first simulated lane does not exceed a set congestion threshold, determining that a lane change instruction of the target simulated vehicle is as follows: the target simulated vehicle continues to run along the first simulated lane;

if the congestion condition of the first simulated lane exceeds a set congestion threshold value and the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, determining that a lane change instruction of the target simulated vehicle is as follows: selecting a simulation lane from other path simulation lanes except the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane;

if the congestion condition of the first simulated lane exceeds a set congestion threshold value and the distance between the target simulated vehicle and the intersection is greater than the second distance parameter, determining that a lane change instruction of the target simulated vehicle is as follows: and selecting one simulation lane from the adjacent simulation lanes on the two sides of the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

if the distance between the target simulated vehicle and the intersection is greater than the third distance parameter and the congestion condition of the first simulated lane exceeds a set congestion threshold, determining that a lane change instruction of the target simulated vehicle is as follows: and selecting one simulation lane from the adjacent simulation lanes on the two sides of the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

In an optional embodiment, the lane change control unit is specifically configured to:

determining that the target simulated lane does not terminate within a set distance threshold from the target simulated vehicle.

In an optional embodiment, the lane changing control unit is further configured to:

and if the distance between the target simulation vehicle and the intersection is not greater than the second distance parameter and the target simulation vehicle does not meet the lane change control condition, controlling the target simulation vehicle to decelerate along the first simulation lane until the target simulation vehicle meets the lane change control condition.

if the distance between the target simulation vehicle and the intersection is equal to the first distance parameter in the process of controlling the target simulation vehicle to run along the first simulation lane in a speed reducing manner, controlling the target simulation vehicle to stop;

and if the parking time of the target simulation vehicle exceeds a set time threshold, controlling the target simulation vehicle to continuously run along the first simulation lane.

and if the first spacing distance between the target simulation vehicle and the previous simulation vehicle in the target simulation lane is greater than a first preset safety distance, and the second spacing distance between the target simulation vehicle and the next simulation vehicle in the target simulation lane is greater than a second preset safety distance, controlling the target simulation vehicle to change lanes from the first simulation lane to the target simulation lane.

In an optional embodiment, the apparatus further comprises a parameter setting unit, configured to:

acquiring attribute information of the target simulation vehicle, wherein the attribute information comprises at least one of the age of a driver, the sex of the driver, the vehicle type, the area where the vehicle is located and the travel purpose;

setting vehicle parameters of the target simulated vehicle based on the attribute information of the target simulated vehicle.

In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method for simulation control of lane change of a vehicle in the first aspect is implemented.

In a fourth aspect, the present application further provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and when the computer program is executed by the processor, the processor is enabled to implement the simulation control method for lane change of a vehicle according to the first aspect.

The simulation control method, the simulation control device, the storage medium and the electronic device for vehicle lane changing provided by the embodiment of the application can control a target simulation vehicle to run on a first simulation lane in a simulation area, when the simulation area is determined to have an intersection in the running direction of the target simulation vehicle, a plurality of distance parameters of the target simulation vehicle are determined based on the vehicle parameters of the target simulation vehicle, a lane changing instruction of the target simulation vehicle is determined according to the distance parameters, if the lane changing instruction indicates that the target simulation vehicle changes lanes from the first simulation lane to the target simulation lane, a lane changing control condition of the target simulation vehicle is obtained, and if the target simulation vehicle meets the lane changing control condition, the target simulation vehicle is controlled to change lanes from the first simulation lane to the target simulation lane. Because a plurality of distance parameters are introduced to carry out analog simulation on the lane changing behavior of the vehicle in front of the intersection, the difference between the simulation result and the practical application can be reduced, the accuracy of the simulation result is improved, and the lane changing behavior in front of the intersection is richer, more diversified and closer to reality.

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 will be 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 inventive exercise.

Fig. 1 is an application scenario diagram of a simulation control method for lane change of a vehicle according to an embodiment of the present application;

fig. 2 is a schematic diagram of a road in an intersection simulation scene provided in an embodiment of the present application;

fig. 3 is a schematic flowchart of a simulation control method for lane changing of a vehicle according to an embodiment of the present application;

fig. 4 is a schematic diagram of another intersection simulation scene road provided in the embodiment of the present application;

FIG. 5 is a schematic flow chart of another simulation control method for lane changing of a vehicle according to an embodiment of the present application;

fig. 6 is a schematic diagram of another intersection simulation scene road provided in the embodiment of the present application;

FIG. 7 is a schematic flow chart of another simulation control method for lane changing of a vehicle according to an embodiment of the present application;

FIG. 8 is a schematic flow chart of another simulation control method for lane changing of a vehicle according to an embodiment of the present application;

FIG. 9 is a schematic flow chart of another simulation control method for lane changing of a vehicle according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a simulation control device for lane changing of a vehicle according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of another simulation control device for lane changing of a vehicle according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of another electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that references in the specification of the present application to the terms "comprises" and "comprising," and variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Some terms in the embodiments of the present application are explained below to facilitate understanding by those skilled in the art.

(1) Microscopic traffic simulation: the traffic simulation refers to the research of traffic behaviors by using a simulation technology, and is a technology for tracking and describing the change of traffic motion along with time and space, the microscopic traffic simulation is one of the traffic simulations, the description of the traffic flow takes a single vehicle as a basic unit, and the microscopic behaviors of the vehicle such as car following, overtaking, lane change and the like on a road can be truly reflected. The simulation technology is a simulation model technology which reflects system behaviors or processes by applying simulation hardware and simulation software through simulation experiments and by means of some numerical calculation and problem solving. Road traffic simulation is an important tool for researching complex traffic problems, and particularly, when a system is too complex to be described by a simple abstract mathematical model, the traffic simulation is more prominent. The traffic simulation can clearly assist in analyzing and predicting the sections and reasons of traffic jam, and compare and evaluate the relevant schemes of city planning, traffic engineering and traffic management, so that the problems are avoided or prepared as much as possible before the problems become realistic.

(2) Degree of aggressiveness: before microscopic traffic simulation is carried out, different excitation degrees can be set for each simulated vehicle, the higher the excitation degree of the simulated vehicle is, the more the simulated vehicle is excited, and the lower the excitation degree of the simulated vehicle is, the more conservative the simulated vehicle is. For example, if the simulated vehicle a and the simulated vehicle B want to change lanes, the simulated vehicle a will change lanes earlier than the simulated vehicle B and the lane change speed of the simulated vehicle a is faster. Specifically, the driving behaviors of the drivers are different due to differences in reaction time, familiarity with road conditions, psychological factors and the like of the drivers, and it is assumed that a floating point number a between (0,1) is given to each simulated vehicle before the simulation starts to represent the aggressiveness of the drivers, 0 represents the most conservative type, and 1 represents the most aggressive type. This value does not change with the operation of the simulation, and once assigned, the value will remain fixed.

(3) Forced lane changing and free lane changing: the lane changing action can be generally divided into two types of forced lane changing and free lane changing according to different lane changing intentions. The forced lane change is lane change behavior which must be taken by the vehicle in order to finish the normal driving purpose of the vehicle, and the vehicle can drive according to a specified path if necessary; the free lane change is lane change behavior which is generated for pursuing faster vehicle speed and more free driving space, for example, if the current driving lane of the vehicle is congested, the vehicle can be changed to other more unobstructed lanes for driving.

(4) Dead road lane and non-dead road lane: if a lane will end within the set distance, the lane is considered as a dead road within the distance, otherwise, the lane is a non-dead road lane. For example, the distance may be set to 50 meters, and when the vehicle is outside 50 meters, the lane may be considered as a non-dead-road lane, and when the vehicle is inside 50 meters, the lane may be considered as a dead-road lane.

The word "exemplary" is used hereinafter to mean "serving as an example, embodiment, or illustration. Any embodiment described as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The terms "first" and "second" are used herein for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of embodiments of the application, unless stated otherwise, "plurality" means two or more.

Embodiments of the present application also relate to Artificial Intelligence (AI) and Machine Learning (ML) techniques, which are designed based on Computer Vision (CV) techniques and Machine Learning in Artificial Intelligence.

Artificial intelligence is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making. The artificial intelligence technology mainly comprises a computer vision technology, a voice processing technology, machine learning/deep learning and other directions.

With the research and progress of artificial intelligence technology, artificial intelligence is developed and researched in a plurality of fields, such as common smart home, image retrieval, video monitoring, video detection, smart speakers, smart marketing, unmanned driving, automatic driving, unmanned aerial vehicles, robots, intelligent medical treatment and the like.

In order to better understand the technical solution provided by the embodiment of the present application, some brief descriptions are provided below for application scenarios to which the technical solution provided by the embodiment of the present application is applicable, and it should be noted that the application scenarios described below are only used for illustrating the embodiment of the present application and are not limited. In specific implementation, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.

The simulation control method for vehicle lane changing provided by the embodiment of the application can be applied to the application scene shown in fig. 1. Referring to fig. 1, an electronic device 10 may include a database 11, simulation software 12, and a simulation result presentation window 13.

In one embodiment, the simulation software 12 may be a micro-simulation software.

The logic algorithm related to the simulation control method for changing the lane of the vehicle is embedded in the simulation software 12, so that the vehicle is controlled to change the lane in front of the intersection through the simulation software according to the logic algorithm.

The vehicle information and the driver characteristics corresponding to each vehicle may be stored in the database 11, where the vehicle information and the driver characteristics corresponding to each vehicle may be simulation data or actual data may be stored in the database 11 according to the data collection device collecting the actual data from the actual road.

The simulation result display window 13 may display the simulation result in the form of characters, or may display the simulation result in the form of animation by simulating the simulation result.

By embedding a logic algorithm for controlling the vehicle to change lanes in front of the intersection into the simulation software, the fitting degree of the simulation result and the actual situation is improved. The logic algorithm can be applied to control the vehicle to change the lane in front of the intersection, thereby realizing the simulation process of the lane changing behavior of the vehicle in front of the intersection.

Fig. 2 is a schematic diagram of an intersection simulation scene road provided in an embodiment of the present application, where the intersection simulation scene road includes four simulation vehicles, namely, a simulation vehicle a, a simulation vehicle B, a simulation vehicle C, and a simulation vehicle D, and three simulation lanes, which are a simulation lane where the simulation vehicle a and the simulation vehicle D currently travel, a simulation lane where the simulation vehicle B currently travels, and a simulation lane where the simulation vehicle C currently travels.

The intersection simulation scene road further comprises six intersection turning lanes, wherein the lane numbered 1 is a left-turning special lane, the lane numbered 2 is a straight left-turning shared lane, the lanes numbered 3 and 4 are straight special lanes, and the lanes numbered 5 and 6 are right-turning special lanes.

Simulated vehicle a (simulated vehicle D): the vehicle is in a straight lane 3, is 200 meters away from an intersection, can reach a straight left-turning lane 2 only by switching one lane to the left, and can reach a right-turning special lane 5 only by switching two lanes to the right, and as the two

lanes

5 and 6 are the right-turning special lanes (storage lanes), the vehicle can turn to the lane 5 only by reaching the lane 4 without crossing other lanes or being interfered by other straight vehicles, so that the simulated vehicle A (simulated vehicle D) can reach the right-turning lane only by switching one lane to the right at present. Therefore, the simulated vehicle a (simulated vehicle D) is at the current position, if it needs to turn its path simulation lane to the left is 2, if it needs to go straight on its own path simulation lane, if it needs to turn its path simulation lane to the right is 4.

The simulation vehicle B: the vehicle is in the straight left-turning lane 2, is 100 meters away from the intersection, does not need to change lanes for left turning and straight going, can reach the right-turning lane 5 only by switching three lanes to the right, and can reach the right-turning lane by switching two lanes to the right similarly according to the analysis of the simulated vehicle A. Thus, when vehicle B is at the current position, if it is to turn left or go straight, it is already on its own path emulation lane, if it is to turn right its path emulation lane is 4.

And (3) simulating a vehicle C: the vehicle is positioned in a straight lane 4 and is 50 meters away from an intersection, two lanes need to be switched leftwards to reach a straight left-turning lane 2, one lane needs to be switched rightwards to reach a right-turning special lane 5, and according to the analysis of the simulated vehicle A, the simulated vehicle C can reach a right-turning lane without switching lanes similarly. Therefore, when the simulated vehicle C is at the current position, the path simulation lane for turning left is 2, the vehicle is already on the path simulation lane for going straight, and the vehicle is also already on the path simulation lane for turning right.

To further illustrate the technical solutions provided by the embodiments of the present application, the following detailed description is made with reference to the accompanying drawings and the detailed description. Although the embodiments of the present application provide the method operation steps as shown in the following embodiments or figures, more or less operation steps may be included in the method based on the conventional or non-inventive labor. In steps where no necessary causal relationship exists logically, the order of execution of the steps is not limited to that provided by the embodiments of the present application. The method can be executed in sequence or in parallel according to the method shown in the embodiment or the figure when the method is executed in an actual processing procedure or a device.

Fig. 3 is a flowchart illustrating a simulation control method for lane changing of a vehicle according to an embodiment of the present application, where the method may be executed by an electronic device. The electronic device may be the electronic device 10 in fig. 1.

As shown in fig. 3, the simulation control method for lane changing of the vehicle includes the following steps:

in step S301, the control target simulated vehicle travels on a first simulated lane in the simulation area.

Wherein, the simulation area can contain at least two simulation lanes in the same direction. For example, the intersection simulation scene road shown in fig. 2 includes 3 simulation lanes in the same direction, that is, simulation lane 2, simulation lane 3, and simulation lane 4, and if the target simulation vehicle is vehicle a or vehicle D, the first simulation lane is simulation lane 3, if the target simulation vehicle is vehicle B, the first simulation lane is simulation lane 2, and if the target simulation vehicle is vehicle C, the first simulation lane is simulation lane 4.

Step S302, when the simulation area is determined to have an intersection in the driving direction of the target simulation vehicle, determining a plurality of distance parameters of the target simulation vehicle based on the vehicle parameters of the target simulation vehicle, and determining a lane change instruction of the target simulation vehicle according to the plurality of distance parameters.

The vehicle parameters are used for indicating the degree of aggressiveness of the corresponding simulated vehicle, the plurality of distance parameters are determined according to the distance between the target simulated vehicle and the intersection, and may include a first distance parameter, a second distance parameter and a third distance parameter, and the third distance parameter is greater than the second distance parameter which is greater than the first distance parameter.

The first distance parameter, the second distance parameter and the third distance parameter are inversely related to the degree of aggressiveness of the target simulation vehicle, namely, when the degree of aggressiveness of the target simulation vehicle is higher, the first distance parameter, the second distance parameter and the third distance parameter are respectively smaller; the first distance parameter, the second distance parameter and the third distance parameter are respectively larger when the degree of aggressiveness of the target simulation vehicle is lower.

When the distance between the target simulation vehicle and the intersection is smaller than the first distance parameter, the lane change instruction of the target simulation vehicle can be determined as follows: and the target simulation vehicle continues to run along the first simulation lane.

When the distance between the target simulated vehicle and the intersection is greater than the first distance parameter and not greater than the third distance parameter, it may be determined whether the first simulated lane is a path simulated lane. The path simulation lane is a simulation lane corresponding to the target simulation vehicle running to the set intersection turning direction. For example, if the target simulated vehicle is vehicle B in fig. 2, and vehicle B needs to turn right at the intersection, i.e., the intersection turning direction of vehicle B is the right-turn direction, the path simulated lane of vehicle B is simulated lane 4.

If the first simulation lane is not the path simulation lane, determining that the lane changing instruction of the target simulation vehicle is as follows: and changing the target simulation vehicle from the first simulation lane to the target simulation lane. The target simulation lane is any simulation lane selected from the path simulation lanes.

If the first simulation lane is the path simulation lane, whether the congestion condition of the first simulation lane exceeds a set congestion threshold value is determined, and when the congestion condition of the first simulation lane does not exceed the set congestion threshold value, a lane change instruction of the target simulation vehicle can be determined as follows: and the target simulation vehicle continues to run along the first simulation lane. When the congestion condition of the first simulated lane exceeds the set congestion threshold and the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, determining that the lane change instruction of the target simulated vehicle is as follows: and selecting one simulation lane from the other path simulation lanes except the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

When the congestion condition of the first simulated lane exceeds the set congestion threshold and the distance between the target simulated vehicle and the intersection is greater than the second distance parameter, the lane change instruction of the target simulated vehicle can be determined as follows: and selecting one simulation lane from the adjacent simulation lanes on the two sides of the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

If the distance between the target simulated vehicle and the intersection is greater than the third distance parameter and the congestion condition of the first simulated lane exceeds the set congestion threshold, determining that the lane change instruction of the target simulated vehicle is as follows: and selecting one simulation lane from the adjacent simulation lanes on the two sides of the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

Step S303, if the lane change instruction indicates that the target simulation vehicle changes the lane from the first simulation lane to the target simulation lane, obtaining the lane change control condition of the target simulation vehicle.

If the lane change instruction of the target simulation vehicle indicates that the target simulation vehicle changes lanes from the first simulation lane to the target simulation lane, a first separation distance between the target simulation vehicle and a previous simulation vehicle in the target simulation lane and a second separation distance between the target simulation vehicle and a next simulation vehicle in the target simulation lane can be obtained. For example, assuming that the target simulated vehicle is the vehicle B in fig. 2 and the target simulated lane is the simulated lane 3, if the vehicle B needs to change the lane from the simulated lane 2 to the simulated lane 3, the distance between the vehicle B and the vehicle a and the distance between the vehicle B and the vehicle D need to be acquired respectively.

And step S304, if the target simulation vehicle meets the lane change control condition, controlling the target simulation vehicle to change the lane from the first simulation lane to the target simulation lane.

And if the first spacing distance between the target simulation vehicle and the previous simulation vehicle in the target simulation lane is greater than the first preset safety distance, and the second spacing distance between the target simulation vehicle and the next simulation vehicle in the target simulation lane is greater than the second preset safety distance, controlling the target simulation vehicle to change lanes from the first simulation lane to the target simulation lane.

In one embodiment, as shown in fig. 4, before the control target simulation vehicle changes lane from the first simulation lane to the target simulation lane, it is further required to determine whether the target simulation lane will terminate within a set distance threshold from the target simulation vehicle, if the target simulation lane will not terminate within the set distance threshold from the target simulation vehicle, it may be determined that the target simulation lane is a non-dead road lane, and the control target simulation vehicle changes lane from the first simulation lane to the target simulation lane. If the target simulation lane is ended within the set distance threshold from the target simulation vehicle, the target simulation lane can be determined to be a dead road lane, and the target simulation vehicle continues to run along the first simulation lane.

In another embodiment, if the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter and is greater than the first distance parameter, determining whether the first simulated lane is the path simulated lane, and when the first simulated lane is not the path simulated lane, determining the lane change instruction of the target simulated vehicle as follows: and changing the target simulation vehicle from the first simulation lane to the target simulation lane. The target simulation lane is any simulation lane selected from the path simulation lanes. The lane changing control condition of the target simulation vehicle is obtained when the lane changing instruction indicates that the target simulation vehicle changes the lane from the first simulation lane to the target simulation lane, and when the target simulation vehicle does not meet the lane changing control condition, the target simulation vehicle can be controlled to decelerate along the first simulation lane until the target simulation vehicle meets the lane changing control condition. And in the process of controlling the target simulation vehicle to decelerate and run along the first simulation lane, if the distance between the target simulation vehicle and the intersection is equal to the first distance parameter, the target simulation vehicle is controlled to stop, and when the time for stopping the target simulation vehicle exceeds a set time threshold, the target simulation vehicle can be controlled to continue running along the first simulation lane, namely, the lane changing operation for controlling the target simulation vehicle to change the lane from the first simulation lane to the target simulation lane is not executed any more.

In another embodiment, after the control target simulation vehicle changes lane from the first simulation lane to the target simulation lane, or after the control target simulation vehicle cancels the change lane from the first simulation lane to the target simulation lane, that is, after the target simulation vehicle completes one lane change judgment, a lane change cooling time may be set, during which the target simulation vehicle does not perform the next lane change judgment. Specifically, after the target simulated vehicle is controlled to change the lane from the first simulated lane to the target simulated lane, the lane change instruction of the target simulated vehicle can be determined again, and a lane change cooling time needs to be waited. When the control of the target simulation vehicle to change the lane from the first simulation lane to the target simulation lane is cancelled, the lane change instruction of the target simulation vehicle can be determined again, but the lane change cooling time can be cancelled, namely the target simulation vehicle can continue to perform the next lane change judgment.

In some embodiments, before the vehicle lane changing is performed by the simulation, the vehicle parameters of the target simulation vehicle need to be set, the attribute information of the target simulation vehicle may be obtained, where the attribute information includes at least one of the age of the driver, the sex of the driver, the vehicle type, the area where the target simulation vehicle is located, and the travel purpose, and then the vehicle parameters of the target simulation vehicle may be set based on the attribute information of the target simulation vehicle.

In other embodiments, the target simulated vehicle may have a set intended travel path or may have a random travel path. When the target simulation vehicle has the set traveling path, the intersection turning direction of the target simulation vehicle is set, and then the target simulation vehicle can determine the corresponding path simulation lane according to the set intersection turning direction. When the target simulation vehicle has a random driving path, an intersection turning direction can be given to the target simulation vehicle, and the target simulation vehicle can determine a corresponding path simulation lane according to the intersection turning direction.

In other embodiments, after the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane, the simulation result corresponding to the target simulated vehicle may be obtained, so that the vehicle lane change simulation model may be established based on the simulation results corresponding to the plurality of target simulated vehicles, respectively. After the vehicle lane change simulation model is obtained, the vehicle lane change simulation model can be used for analyzing and optimizing the related traffic scheme. For example, a vehicle lane change simulation model may be adopted to test the set time length schemes of the traffic lights at each intersection to obtain test results corresponding to the time length schemes of the traffic lights at each intersection, and then the time length scheme of the traffic lights at the target intersection is determined based on the obtained test results. Specifically, the traffic signal lamps can be set to different durations, the vehicle lane change simulation model is operated, simulation results corresponding to the traffic signal lamps with the different durations can be obtained, and finally the optimal set duration of the traffic signal lamps capable of relieving traffic jam is determined based on the simulation results.

The simulation control method for vehicle lane changing provided by the embodiment of the application can control a target simulation vehicle to run on a first simulation lane in a simulation area, when the simulation area is determined to have an intersection in the running direction of the target simulation vehicle, a plurality of distance parameters of the target simulation vehicle are determined based on vehicle parameters of the target simulation vehicle, a lane changing instruction of the target simulation vehicle is determined according to the distance parameters, if the lane changing instruction indicates that the target simulation vehicle changes lanes from the first simulation lane to the target simulation lane, a lane changing control condition of the target simulation vehicle is obtained, and if the target simulation vehicle meets the lane changing control condition, the target simulation vehicle is controlled to change lanes from the first simulation lane to the target simulation lane. Because a plurality of distance parameters are introduced to carry out analog simulation on the lane changing behavior of the vehicle in front of the intersection, the difference between the simulation result and the practical application can be reduced, the accuracy of the simulation result is improved, and the lane changing behavior in front of the intersection is richer, more diversified and closer to reality.

In some embodiments, the simulation control method for lane changing of a vehicle proposed by the present application may be implemented according to the process shown in fig. 5, which may be executed by an electronic device. The electronic device may be the electronic device 10 in fig. 1.

As shown in fig. 5, the following steps may be included:

in step S501, the control target simulated vehicle travels on the first simulated lane in the simulation area.

Wherein, the simulation area can contain at least two simulation lanes in the same direction.

Step S502, when the simulation area is determined to have an intersection in the driving direction of the target simulation vehicle, determining a first distance parameter, a second distance parameter and a third distance parameter of the target simulation vehicle based on the vehicle parameters of the target simulation vehicle.

The vehicle parameters are used for indicating the degree of aggressiveness of the corresponding simulated vehicle, the first distance parameter, the second distance parameter and the third distance parameter of the target simulated vehicle are inversely related to the degree of aggressiveness of the target simulated vehicle, the third distance parameter is greater than the second distance parameter, and the second distance parameter is greater than the first distance parameter.

For example, as shown in fig. 6, a plurality of distance parameters, namely, a Route Aware distance (Route Aware distance), a Free lane Change limit distance (Free Change distance), and a No Change distance (No Change distance), may be determined based on the distance between the target simulated vehicle and the intersection and the vehicle parameter of the target simulated vehicle. The first distance parameter is a forbidding lane changing distance, the second distance parameter is a limiting free lane changing distance, and the third distance parameter is a path reaction distance.

In one embodiment, the first, second, and third distance parameters of the target simulated vehicle may be a function of the aggressiveness of the target simulated vehicle.

Step S503, determining whether the distance between the target simulation vehicle and the intersection is greater than a third distance parameter; if not, executing step S504; if so, step S511 is performed.

Step S504, determining whether the distance between the target simulation vehicle and the intersection is greater than a first distance parameter; if not, executing step S505; if so, step S506 is performed.

Step S505, the lane change instruction of the target simulation vehicle is: and the target simulation vehicle continues to run along the first simulation lane.

Firstly, whether the distance between the target simulation vehicle and the intersection is greater than a third distance parameter needs to be judged, if the distance between the target simulation vehicle and the intersection is not greater than the third distance parameter, whether the distance between the target simulation vehicle and the intersection is greater than a first distance parameter needs to be judged, and if the distance between the target simulation vehicle and the intersection is not greater than the first distance parameter, a lane change instruction of the target simulation vehicle can be determined as follows: and the target simulation vehicle continues to run along the first simulation lane.

Step S506, determining whether the first simulation lane is a path simulation lane; if not, executing step S507; if so, go to step S508.

In step S507, the lane change instruction of the target simulation vehicle is: changing the target simulation vehicle from the first simulation lane to the target simulation lane; the target simulation lane is any one simulation lane selected from the path simulation lanes.

If the distance between the target simulation vehicle and the intersection is greater than the first distance parameter, whether the first simulation lane is the path simulation lane needs to be judged, and when the first simulation lane is not the path simulation lane, the lane change instruction of the target simulation vehicle can be determined as follows: changing the target simulation vehicle from the first simulation lane to the target simulation lane; the target simulation lane is any one simulation lane selected from the path simulation lanes.

Step S508, determining whether the congestion condition of the first simulation lane exceeds a set congestion threshold value; if not, executing step S505; if so, step S509 is performed.

Step S509, determining whether the distance between the target simulated vehicle and the intersection is greater than a second distance parameter; if not, executing step S507; if so, go to step S510.

Step S510, the lane change instruction of the target simulation vehicle is: and selecting one simulation lane from the adjacent simulation lanes on the two sides of the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

When the first simulated lane is the route simulated lane, whether the congestion condition of the first simulated lane exceeds a set congestion threshold value needs to be judged. For example, the set congestion threshold may be set to 5 simulated vehicles, and on the first simulated lane, when there are 8 simulated vehicles within the set distance of the traveling direction of the target simulated vehicle, the first simulated lane may be considered to be comparatively congested, and when there are only 2 simulated vehicles within the set distance of the traveling direction of the target simulated vehicle, the first simulated lane may be considered to be comparatively clear.

When the congestion condition of the first simulated lane does not exceed the set congestion threshold, the lane change instruction of the target simulated vehicle may be determined as follows: and the target simulation vehicle continues to run along the first simulation lane. When the congestion condition of the first simulated lane exceeds the set congestion threshold, whether the distance between the target simulated vehicle and the intersection is greater than a second distance parameter needs to be judged, and if the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, the lane change instruction of the target simulated vehicle can be determined as follows: changing the target simulation vehicle from the first simulation lane to the target simulation lane; the target simulation lane is any one simulation lane selected from the path simulation lanes.

If the distance between the target simulation vehicle and the intersection is greater than the second distance parameter, the lane change instruction of the target simulation vehicle can be determined as follows: and selecting one simulation lane from the adjacent simulation lanes on the two sides of the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

Step S511, determining whether the congestion condition of the first simulation lane exceeds a set congestion threshold value; if not, executing step S505; if so, go to step S510.

If the distance between the target simulated vehicle and the intersection is greater than the third distance parameter, whether the congestion condition of the first simulated lane exceeds a set congestion threshold value needs to be judged, and when the congestion condition of the first simulated lane does not exceed the set congestion threshold value, a lane change instruction of the target simulated vehicle can be determined as follows: and the target simulation vehicle continues to run along the first simulation lane. When the congestion condition of the first simulated lane exceeds the set congestion threshold, the lane change instruction of the target simulated vehicle may be determined as follows: and selecting one simulation lane from the adjacent simulation lanes on the two sides of the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

Step S512, determining whether the target simulation vehicle meets the lane change control condition; if not, go to step S513; if so, step S514 is performed.

In step S513, the control target simulated vehicle continues to travel along the first simulated lane.

And step S514, controlling the target simulation vehicle to change the lane from the first simulation lane to the target simulation lane.

If the lane change instruction of the target simulation vehicle is as follows: and changing the target simulation vehicle from the first simulation lane to the target simulation lane, wherein the lane changing control condition of the target simulation vehicle is required to be acquired, namely a first spacing distance between the target simulation vehicle and a previous simulation vehicle in the target simulation lane and a second spacing distance between the target simulation vehicle and a next simulation vehicle in the target simulation lane are acquired.

And judging whether the target simulation vehicle meets a lane change control condition, if the target simulation vehicle meets the lane change control condition, namely the first spacing distance between the target simulation vehicle and the previous simulation vehicle in the target simulation lane is greater than a first preset safety distance, and the second spacing distance between the target simulation vehicle and the next simulation vehicle in the target simulation lane is greater than a second preset safety distance, controlling the target simulation vehicle to change the lane from the first simulation lane to the target simulation lane. And if the target simulation vehicle does not meet the lane change control condition, controlling the target simulation vehicle to continuously run along the first simulation lane.

Because a plurality of distance parameters related to the vehicle motivation degree are introduced in the scheme to simulate the lane changing behavior of the vehicle in front of the intersection, the lane changing behavior in front of the intersection is richer and more diversified, and the lane changing behavior of the vehicle in front of the intersection in the real world is closer to, so that the traffic simulation at the virtual city level can be realized as the automatic driving service, and a vehicle lane changing simulation model which is as consistent as possible with the real traffic can be established in the scheme, so that the vehicle lane changing simulation model can be utilized to analyze and optimize the related traffic schemes.

The following describes the simulation control method for lane change of a vehicle in the embodiment in further detail by using a specific application scenario:

it is assumed that an application scenario in the present embodiment may be as shown in fig. 2, a simulation area in the application scenario includes 3 simulation lanes including a simulation lane 2, a simulation lane 3, and a simulation lane 4, current traveling lanes of a simulation vehicle a and a simulation vehicle D are both the simulation lane 3, a current traveling lane of a simulation vehicle B is the simulation lane 2, a current traveling lane of a simulation vehicle C is the simulation lane 4, and traveling directions of the simulation vehicle a, the simulation vehicle B, the simulation vehicle C, and the simulation vehicle D are the same.

When it is determined that the simulation area has intersections in the traveling directions of the simulation vehicle a, the simulation vehicle B, the simulation vehicle C, and the simulation vehicle D, a plurality of distance parameters, namely, a path reaction distance, a limited free lane change distance, and a prohibited lane change distance, corresponding to the simulation vehicle a, the simulation vehicle B, the simulation vehicle C, and the simulation vehicle D can be determined according to the vehicle parameters of the simulation vehicle a, the simulation vehicle B, the simulation vehicle C, and the simulation vehicle D, respectively. The limited free lane changing distance is smaller than the path reaction distance, and the limited free lane changing distance is larger than the forbidden lane changing distance.

It is assumed that the distance between the simulated vehicle a and the intersection is outside the route reaction distance, the distance between the simulated vehicle B and the intersection is inside the route reaction distance, and outside the restricted free lane change distance, the distance between the simulated vehicle C and the intersection is inside the restricted free lane change distance, and outside the prohibited lane change distance, the distance between the simulated vehicle D and the intersection is inside the prohibited lane change distance.

When the target simulation vehicle is the simulation vehicle a, it may be determined that the first simulation lane is the simulation lane 3, and since the distance between the simulation vehicle a and the intersection is outside the path reaction distance, the simulation vehicle a may freely change lanes, that is, may change lanes for obtaining a faster speed or a larger inter-vehicle distance. Specifically, the lane change control method for the simulated vehicle a before the intersection may be implemented according to the process shown in fig. 7. As shown in fig. 7, the following steps may be included:

step S701, determining whether the congestion condition of the simulation lane 3 exceeds a set congestion threshold value; if not, executing step S702; if so, step S704 is performed.

When the distance between the simulated vehicle a and the intersection is out of the route reaction distance, it is possible to determine whether the congestion condition of the simulated lane 3 exceeds a set congestion threshold.

Step S702, selecting one simulation lane from the simulation lane 2 and the simulation lane 4 as a target simulation lane.

Step S703, determining whether to change the simulated vehicle A from the simulated lane 3 to the target simulated lane; if not, go to step S704; if so, step S705 is performed.

When the congestion condition of the simulated lane 3 exceeds the set congestion threshold, the simulated vehicle a may select one simulated lane from the simulated lane 2 and the simulated lane 4 as a target simulated lane, and then determine whether to switch the simulated vehicle a from the simulated lane 3 to the target simulated lane.

In step S704, the simulated vehicle a is controlled to continue traveling along the simulated lane 3.

And if the simulated vehicle A is determined not to be switched from the simulated lane 3 to the target simulated lane, controlling the simulated vehicle A to continue running along the simulated lane 3.

Step S705, determining whether the simulated vehicle A meets the lane change control condition; if not, go to step S704; if so, step S706 is performed.

If the simulated vehicle A is determined to be switched to the target simulated lane from the simulated lane 3, a first spacing distance between the simulated vehicle A and a previous simulated vehicle in the target simulated lane and a second spacing distance between the simulated vehicle A and a next simulated vehicle in the target simulated lane need to be respectively determined, and if the first spacing distance is greater than a first preset safety distance and the second spacing distance is greater than a second preset safety distance, the simulated vehicle A can be determined to meet a lane switching control condition; if the first spacing distance is not greater than the first preset safety distance, or the second spacing distance is not greater than the second preset safety distance, it can be determined that the simulated vehicle a does not meet the lane change control condition.

And step S706, controlling the simulated vehicle A to change the lane from the simulated lane 3 to the target simulated lane.

And if the simulated vehicle A does not meet the lane change control condition, controlling the simulated vehicle A to continuously run along the simulated lane 3. If the simulated vehicle A meets the lane changing control condition, the simulated vehicle A can be controlled to change the lane from the simulated lane 3 to the target simulated lane.

When the target simulation vehicle is a simulation vehicle B, the first simulation lane can be determined to be a simulation lane 2, because the distance between the simulation vehicle B and the intersection is within the path reaction distance and outside the limit free lane changing distance, when the simulation lane 2 is not the path simulation lane, the simulation vehicle B can change the lane to the path simulation lane, and when the simulation lane 2 is the path simulation lane, the simulation vehicle B can freely change the lane. Specifically, the lane change control method for the simulated vehicle B before the intersection may be implemented according to the process shown in fig. 8. As shown in fig. 8, the following steps may be included:

step S801, determining whether the simulation lane 2 is a path simulation lane; if not, executing step S802; if so, step S805 is performed.

When the distance between the simulated vehicle B and the intersection is within the route reaction distance and outside the limited free lane change distance, it is necessary to first determine whether the simulated lane 2 is a route simulated lane. If the simulated vehicle B needs to turn right at the intersection, the path simulation lane of the simulated vehicle B is the simulation lane 4, and it can be determined that the simulation lane 2 is not the path simulation lane. If the simulated vehicle B needs to turn left at the intersection, the path simulation lane of the simulated vehicle B is the simulation lane 2, and it can be determined that the simulation lane 2 is the path simulation lane. If the simulated vehicle B needs to go straight at the intersection, the path simulation lanes of the simulated vehicle B are the simulation lane 2 and the simulation lane 3, and it can be determined that the simulation lane 2 is the path simulation lane.

Step S802, determining whether the simulated vehicle B meets lane change control conditions; if not, go to step S803; if so, go to step S804.

In step S803, the simulated vehicle B is controlled to continue traveling along the simulated lane 2.

And step S804, controlling the simulated vehicle B to change the lane from the simulated lane 2 to the path simulated lane.

If the simulated lane 2 is determined not to be the path simulated lane, it is necessary to judge whether the simulated vehicle B satisfies the lane change control condition. And when the simulated vehicle B is determined not to meet the lane change control condition, controlling the simulated vehicle B to continuously run along the simulated lane 2. When it is determined that the simulated vehicle B satisfies the lane change control condition, the simulated vehicle B may be controlled to change the lane from the simulated lane 2 to the route simulated lane.

Step S805, determining whether the congestion condition of the simulation lane 2 exceeds a set congestion threshold; if not, go to step S803; if so, step S806 is performed.

If the simulated lane 2 is determined not to be the path simulated lane, whether the congestion condition of the simulated lane 2 exceeds a set congestion threshold value needs to be judged.

In step S806, one simulated lane is selected from the simulated lane 3 and the simulated lane 4 as a target simulated lane.

Step S807, determining whether to change the simulated vehicle B from the simulated lane 2 to the target simulated lane; if not, go to step S803; if so, step S808 is performed.

And if the congestion condition of the simulated lane 2 is determined not to exceed the set congestion threshold, controlling the simulated vehicle B to continue running along the simulated lane 2. If the congestion condition of the simulated lane 2 is determined to exceed the set congestion threshold, one simulated lane can be selected from the simulated lane 3 and the simulated lane 4 as a target simulated lane, and whether to change the simulated vehicle B from the simulated lane 2 to the target simulated lane is judged.

Step S808, determining whether the simulated vehicle B meets lane change control conditions; if not, go to step S803; if so, step S809 is performed.

And step 809, controlling the simulated vehicle B to change the lane from the simulated lane 2 to the target simulated lane.

And if the simulated vehicle B is determined not to be switched from the simulated lane 2 to the target simulated lane, controlling the simulated vehicle B to continue running along the simulated lane 2. If the simulated vehicle B is determined to be changed from the simulated lane 2 to the target simulated lane, whether the simulated vehicle B meets the lane change control condition needs to be judged. And when the simulated vehicle B does not meet the lane change control condition, controlling the simulated vehicle B to continuously run along the simulated lane 2. When the simulated vehicle B meets the lane changing control condition, the simulated vehicle B can be controlled to change the lane from the simulated lane 2 to the target simulated lane.

When the target simulated vehicle is a simulated vehicle C, it may be determined that the first simulated lane is the simulated lane 4, and since the distance between the simulated vehicle C and the intersection is within the limited free lane change distance and outside the prohibited lane change distance, the simulated vehicle C may change the lane to the path simulated lane when the simulated lane 4 is not the path simulated lane, and when the simulated lane 4 is the path simulated lane, the simulated vehicle C may freely change the lane to the path simulated lane. Specifically, the lane change control method for the simulated vehicle C in front of the intersection may be implemented according to the process shown in fig. 9. As shown in fig. 9, the following steps may be included:

step S901, determining whether the simulation lane 4 is a path simulation lane; if not, executing step S902; if so, step S905 is performed.

When the distance between the simulated vehicle C and the intersection is within the limited free lane change distance and outside the prohibited lane change distance, it is necessary to first determine whether the simulated lane 4 is a route simulated lane. If the simulated vehicle C needs to turn left at the intersection, the path simulation lane of the simulated vehicle C is the simulation lane 2, and it can be determined that the simulation lane 4 is not the path simulation lane. If the simulated vehicle C needs to turn right at the intersection, the path simulation lane of the simulated vehicle C is the simulation lane 4, and it can be determined that the simulation lane 4 is the path simulation lane. If the simulated vehicle C needs to go straight at the intersection, the path simulation lanes of the simulated vehicle C are the simulation lane 2, the simulation lane 3 and the simulation lane 4, and it can be determined that the simulation lane 4 is the path simulation lane.

Step S902, determining whether the simulated vehicle C meets the lane change control condition; if not, executing step S903; if so, step S904 is performed.

And step S903, controlling the simulation vehicle C to continue to run along the simulation lane 4, and controlling the simulation vehicle C to run at a reduced speed along the simulation lane 4 until the simulation vehicle C meets the lane changing control condition again, and controlling the simulation vehicle C to change the lane from the simulation lane 4 to the path simulation lane.

And step S904, controlling the simulated vehicle C to change the lane from the simulated lane 4 to the path simulated lane.

If the simulation lane 4 is determined not to be the path simulation lane, the simulation vehicle C needs to change the lane of the path simulation lane, and at this time, it needs to be determined whether the simulation vehicle C meets the lane change control condition.

And when the simulated vehicle C is determined not to meet the lane changing control condition, controlling the simulated vehicle C to continue running along the simulated lane 4, and simultaneously controlling the simulated vehicle C to decelerate along the simulated lane 4 until the simulated vehicle C meets the lane changing control condition again, and controlling the simulated vehicle C to change the lane from the simulated lane 4 to the path simulated lane. And when the simulated vehicle C is determined to meet the lane changing control condition, controlling the simulated vehicle C to change the lane from the simulated lane 4 to the path simulated lane.

Step S905, determining whether the congestion condition of the simulation lane 4 exceeds a set congestion threshold value; if not, executing step S906; if so, step S907 is performed.

If the simulated lane 4 is determined to be the path simulated lane, whether the congestion condition of the simulated lane 4 exceeds a set congestion threshold value needs to be judged.

In step S906, the simulated vehicle C is controlled to continue traveling along the simulated lane 4.

Step S907, determining whether the simulated vehicle C meets lane change control conditions; if not, executing step S906; if so, step S904 is performed.

And when the congestion condition of the simulated lane 4 does not exceed the set congestion threshold, controlling the simulated vehicle C to continuously run along the simulated lane 4. And when the congestion condition of the simulated lane 4 exceeds a set congestion threshold value, controlling the simulated vehicle C to change the lane from the simulated lane 4 to the path simulated lane.

When the target simulation vehicle is a simulation vehicle D, the first simulation lane can be determined to be a simulation lane 3, and the distance between the simulation vehicle D and the intersection is within the lane change prohibition distance, the simulation vehicle D is prohibited from changing lanes, and the simulation vehicle D is controlled to continue to run along the simulation lane 3.

The vehicle lane change simulation control method shown in fig. 3 is based on the same inventive concept, and the embodiment of the application also provides a vehicle lane change simulation control device. Because the device is a device corresponding to the simulation control method for vehicle lane changing, and the principle of solving the problems of the device is similar to that of the method, the implementation of the device can refer to the implementation of the method, and repeated parts are not described again.

Fig. 10 is a schematic structural diagram illustrating a vehicle lane change simulation control device according to an embodiment of the present application, and as shown in fig. 10, the vehicle lane change simulation control device includes a driving control unit 1001, an instruction determination unit 1002, a condition acquisition unit 1003, and a control lane change unit 1004.

The driving control unit 1001 is used for controlling a target simulation vehicle to drive on a first simulation lane in a simulation area, and the simulation area comprises at least two simulation lanes in the same direction;

an instruction determining unit 1002, configured to determine, when it is determined that the simulation area has an intersection in the traveling direction of the target simulation vehicle, a plurality of distance parameters of the target simulation vehicle based on the vehicle parameters of the target simulation vehicle, and determine a lane change instruction of the target simulation vehicle according to the plurality of distance parameters; the vehicle parameters are used for indicating the degree of aggressiveness of the corresponding simulated vehicle;

a condition obtaining unit 1003, configured to obtain a lane change control condition of the target simulated vehicle if the lane change instruction indicates that the target simulated vehicle changes lanes from the first simulated lane to the target simulated lane;

and the control lane changing unit 1004 is used for controlling the target simulation vehicle to change the lane from the first simulation lane to the target simulation lane if the target simulation vehicle meets the lane changing control condition.

In an alternative embodiment, as shown in fig. 11, the simulation control device for changing lanes of a vehicle may further include a model establishing unit 1101 configured to:

The plurality of distance parameters comprise a first distance parameter, a second distance parameter and a third distance parameter, wherein the third distance parameter is greater than the second distance parameter, and the second distance parameter is greater than the first distance parameter; the instruction determining unit 1002 is specifically configured to:

if the distance between the target simulation vehicle and the intersection is smaller than the first distance parameter, determining that the lane change instruction of the target simulation vehicle is as follows: the target simulation vehicle continues to run along the first simulation lane;

if the distance between the target simulation vehicle and the intersection is greater than the first distance parameter and not greater than the third distance parameter, determining whether the first simulation lane is a path simulation lane; the path simulation lane is a simulation lane corresponding to the driving of the target simulation vehicle to the set intersection turning direction;

if not, determining that the lane change instruction of the target simulation vehicle is as follows: changing the target simulation vehicle from the first simulation lane to the target simulation lane; the target simulation lane is any one simulation lane selected from the path simulation lanes;

In an alternative embodiment, the instruction determining unit 1002 is further configured to:

if the congestion condition of the first simulated lane does not exceed the set congestion threshold, determining that a lane change instruction of the target simulated vehicle is as follows: the target simulation vehicle continues to run along the first simulation lane;

if the congestion condition of the first simulated lane exceeds the set congestion threshold and the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, determining that the lane change instruction of the target simulated vehicle is as follows: selecting one simulation lane from the other path simulation lanes except the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane;

if the congestion condition of the first simulated lane exceeds the set congestion threshold and the distance between the target simulated vehicle and the intersection is greater than the second distance parameter, determining that the lane change instruction of the target simulated vehicle is as follows: and selecting one simulation lane from the adjacent simulation lanes on the two sides of the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

if the distance between the target simulated vehicle and the intersection is greater than the third distance parameter and the congestion condition of the first simulated lane exceeds the set congestion threshold, determining that a lane change instruction of the target simulated vehicle is as follows: and selecting one simulation lane from the adjacent simulation lanes on the two sides of the first simulation lane as a target simulation lane, and changing the target simulation vehicle from the first simulation lane to the target simulation lane.

In an alternative embodiment, the lane changing unit 1004 is specifically configured to:

determining that the target simulated lane does not end within a set distance threshold from the target simulated vehicle.

In an alternative embodiment, the lane changing unit 1004 is further configured to:

if the distance between the target simulation vehicle and the intersection is equal to the first distance parameter in the process of controlling the target simulation vehicle to run along the first simulation lane in a deceleration way, controlling the target simulation vehicle to stop;

and if the time for the target simulation vehicle to stop exceeds the set time threshold, controlling the target simulation vehicle to continuously run along the first simulation lane.

In an optional embodiment, the simulation control apparatus for lane changing of a vehicle may further include a parameter setting unit 1102, configured to:

acquiring attribute information of the target simulation vehicle, wherein the attribute information comprises at least one of the age of a driver, the sex of the driver, the type of the vehicle, the area where the vehicle is located and the trip purpose;

vehicle parameters of the target simulated vehicle are set based on the attribute information of the target simulated vehicle.

The embodiment of the method and the embodiment of the device are based on the same inventive concept, and the embodiment of the application also provides electronic equipment.

In one embodiment, the electronic device may be configured as shown in fig. 12, and includes a memory 1201, a communication module 1203, and one or more processors 1202.

A memory 1201 for storing computer programs executed by the processor 1202. The memory 1201 may mainly include a storage program area and a storage data area, where the storage program area may store an operating system, a program required for running an instant messaging function, and the like; the storage data area can store various instant messaging information, operation instruction sets and the like.

Memory 1201 may be a volatile memory (volatile memory), such as a random-access memory (RAM); the memory 1201 may also be a non-volatile memory (non-volatile memory) such as, but not limited to, a read-only memory (rom), a flash memory (flash memory), a hard disk (HDD) or a solid-state drive (SSD), or any other medium which can be used to carry or store desired program code in the form of instructions or data structures and which can be accessed by a computer. The memory 1201 may be a combination of the above memories.

The processor 1202 may include one or more Central Processing Units (CPUs), a digital processing unit, and the like. The processor 1202 is configured to implement the above-described simulation control method for vehicle lane change when calling the computer program stored in the memory 1201.

The communication module 1203 is used for communicating with the terminal device and other electronic devices.

In the embodiment of the present application, the specific connection medium between the memory 1201, the communication module 1203 and the processor 1202 is not limited. In fig. 12, the memory 1201 and the processor 1202 are connected by a bus 1204, the bus 1204 is represented by a thick line in fig. 12, and the connection manner between other components is merely illustrative and not limited. The bus 1204 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 12, but this is not intended to represent only one bus or type of bus.

In another embodiment, the structure of the electronic device may be as shown in fig. 13, including: radio Frequency (RF) circuitry 1310, memory 1320, input unit 1330, display unit 1340, sensor 1350, audio circuitry 1360, wireless fidelity (WiFi) module 1370, processor 1380, and the like. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 13 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

The following describes each component of the electronic device in detail with reference to fig. 13:

RF circuit 1310 may be used for receiving and transmitting signals during a message transmission or call, and in particular, for processing received downlink information of a base station by processor 1380; in addition, the data for designing uplink is transmitted to the base station.

The memory 1320 may be used to store software programs and modules, such as program instructions/modules corresponding to the simulation control method and apparatus for vehicle lane changing in the embodiment of the present application, and the processor 1380 executes various functional applications and data processing of the electronic device, such as the simulation control method for vehicle lane changing provided in the embodiment of the present application, by running the software programs and modules stored in the memory 1320. The memory 1320 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program of at least one application, and the like; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 1320 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The input unit 1330 may be used to receive numeric or character information input by a user and to generate key signal inputs related to user settings and function control of the terminal.

Alternatively, the input unit 1330 may include a touch panel 1331 and other input devices 1332.

The touch panel 1331, also referred to as a touch screen, may collect touch operations performed by a user on or near the touch panel 1331 (for example, operations performed by the user on or near the touch panel 1331 by using any suitable object or accessory such as a finger or a stylus pen), and implement corresponding operations according to a preset program, for example, operations performed by the user for clicking a shortcut identifier of a function module. Alternatively, the touch panel 1331 may include two parts, a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, and sends the touch point coordinates to the processor 1380, where the touch controller can receive and execute commands sent by the processor 1380. In addition, the touch panel 1331 may be implemented by various types, such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave.

Alternatively, other input devices 1332 may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.

The display unit 1340 may be used to display information input by a user or interface information presented to the user, as well as various menus of the electronic device. The display unit 1340 is a display system of the terminal device, and is used for presenting an interface, such as a display desktop, an operation interface of an application, or an operation interface of a live application.

The display unit 1340 may include a display panel 1341. Alternatively, the Display panel 1341 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.

Further, touch panel 1331 can overlay display panel 1341, and when touch panel 1331 detects a touch operation on or near touch panel 1331, the touch panel can transmit the touch operation to processor 1380 to determine the type of touch event, and then processor 1380 can provide a corresponding interface output on display panel 1341 according to the type of touch event.

Although in fig. 13, the touch panel 1331 and the display panel 1341 are implemented as two separate components to implement the input and output functions of the electronic device, in some embodiments, the touch panel 1331 and the display panel 1341 may be integrated to implement the input and output functions of the terminal.

The electronic device can also include at least one sensor 1350, such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display panel 1341 according to the brightness of ambient light, and a proximity sensor that turns off the backlight of the display panel 1341 when the electronic device is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration) for recognizing the attitude of the electronic device, vibration recognition related functions (such as pedometer, tapping) and the like; as for other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which may be further configured to the electronic device, detailed descriptions thereof are omitted.

The audio circuit 1360, speakers 1361, microphone 1362 may provide an audio interface between the user and the electronic device. The audio circuit 1360 may transmit the electrical signal converted from the received audio data to the speaker 1361, and the electrical signal is converted into a sound signal by the speaker 1361 and output; on the other hand, the microphone 1362 converts the collected sound signal into an electric signal, converts the electric signal into audio data after being received by the audio circuit 1360, processes the audio data by the audio data output processor 1380, and then transmits the audio data to, for example, another electronic device via the RF circuit 1310, or outputs the audio data to the memory 1320 for further processing.

WiFi belongs to short-distance wireless transmission technology, and the electronic equipment can help a user to send and receive e-mails, browse webpages, access streaming media and the like through the WiFi module 1370, and provides wireless broadband internet access for the user. Although fig. 13 shows the WiFi module 1370, it is understood that it does not belong to the essential constitution of the electronic device, and may be omitted entirely as needed within the scope not changing the essence of the invention.

The processor 1380 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 1320 and calling data stored in the memory 1320, thereby integrally monitoring the electronic device. Optionally, processor 1380 may include one or more processing units; optionally, the processor 1380 may integrate an application processor and a modem processor, wherein the application processor mainly processes software programs such as an operating system, an application, and a functional module inside the application, for example, a simulation control method for lane changing of a vehicle provided in the embodiment of the present application. The modem processor handles primarily wireless communications. It will be appreciated that the modem processor described above may not be integrated within processor 1380.

It will be appreciated that the configuration shown in fig. 13 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 13 or have a different configuration than shown in fig. 13. The components shown in fig. 13 may be implemented in hardware, software, or a combination thereof.

According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the simulation control method for lane change of the vehicle in the above-described embodiment. The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.

Claims

1. A simulation control method for lane changing of a vehicle is characterized by comprising the following steps:

2. The method of claim 1, further comprising:

3. The method of claim 1, wherein the plurality of distance parameters of the target simulated vehicle are inversely related to the aggressiveness of the target simulated vehicle.

4. The method of claim 1, wherein the plurality of distance parameters includes a first distance parameter, a second distance parameter, and a third distance parameter, and wherein the third distance parameter is greater than the second distance parameter, which is greater than the first distance parameter;

determining a lane change instruction of the target simulation vehicle according to the plurality of distance parameters comprises:

5. The method of claim 4, wherein determining a lane change instruction for the target simulated vehicle based on the congestion condition of the first simulated lane comprises:

6. The method of claim 4, wherein said determining a lane-change instruction for said target simulated vehicle based on said plurality of distance parameters further comprises:

7. The method of claim 1, wherein prior to said controlling said target simulated vehicle to change lane from said first simulated lane to said target simulated lane, said method further comprises:

8. The method of claim 5, wherein prior to said controlling said target simulated vehicle to change lane from said first simulated lane to said target simulated lane, said method further comprises:

9. The method of claim 8, further comprising:

10. The method of claim 1, wherein controlling the target simulated vehicle to change lane from the first simulated lane to the target simulated lane if the target simulated vehicle satisfies the lane change control condition comprises:

11. The method of claim 1, wherein before the control target simulated vehicle travels on a first simulated lane in a simulated area, the method further comprises:

12. A simulation control device for lane change of a vehicle, comprising:

13. A computer-readable storage medium having a computer program stored therein, the computer program characterized by: the computer program, when executed by a processor, implements the method of any of claims 1-11.

14. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the computer program, when executed by the processor, implementing the method of any of claims 1-11.