CN113264065B - Vehicle lane changing method, device, equipment and storage medium - Google Patents

Vehicle lane changing method, device, equipment and storage medium Download PDF

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CN113264065B
CN113264065B CN202110524122.0A CN202110524122A CN113264065B CN 113264065 B CN113264065 B CN 113264065B CN 202110524122 A CN202110524122 A CN 202110524122A CN 113264065 B CN113264065 B CN 113264065B
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lane
vehicle
path
changing
lanes
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CN113264065A (en
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王浩然
张亮亮
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Jingdong Kunpeng Jiangsu Technology Co Ltd
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Jingdong Kunpeng Jiangsu Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Navigation (AREA)

Abstract

The embodiment of the invention discloses a method, a device, equipment and a storage medium for changing lanes of a vehicle. The method comprises the following steps: constructing a topological relation according to a target map associated with a vehicle running task of a target vehicle, and searching a path according to the topological relation and the vehicle running task to obtain a vehicle running path, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map in the same direction; determining adjacent lanes to be changed from all vehicle driving lanes of the vehicle driving path, and determining the vehicle lane changing path according to the adjacent lanes to be changed; and adjusting the vehicle running path according to the vehicle lane changing path so that the target vehicle can change the lane when the target vehicle runs to the vehicle lane changing path according to the adjusted vehicle running path. According to the technical scheme of the embodiment of the invention, the target vehicle bypasses the closed lane in a lane changing mode when meeting the lane closing, so that the problem of bypassing and/or long-term running on a dangerous lane section caused by lane closing is solved.

Description

Vehicle lane changing method, device, equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method, a device, equipment and a storage medium for changing lanes of a vehicle.
Background
With the rapid development of computer technology, automatic driving is receiving wide attention. In the field of automatic driving, unmanned distribution vehicles need to be driven on a non-motor vehicle lane as far as possible to ensure driving safety. However, in a non-motor vehicle lane, a situation that the vehicle is blocked (i.e. cannot drive) due to long-term parking and road maintenance of the vehicle often occurs, and at this time, the vehicle needs to avoid the lanes from a vehicle navigation level to complete a vehicle driving task.
In the process of implementing the invention, the inventor finds that the following technical problems exist in the prior art: the existing vehicle navigation scheme can cause the problem that the vehicle bypasses the road and/or runs on the dangerous road section for a long time when meeting the road closure.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for changing lanes of a vehicle, which solve the problem that the vehicle bypasses a lane and/or runs on a dangerous lane section for a long time due to lane sealing.
In a first aspect, an embodiment of the present invention provides a vehicle lane changing method, which may include:
constructing a topological relation according to a target map associated with a vehicle running task of a target vehicle, and searching a path according to the topological relation and the vehicle running task to obtain a vehicle running path, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map in the same direction;
determining adjacent lanes to be changed from all vehicle driving lanes of the vehicle driving path, and determining the vehicle lane changing path according to the adjacent lanes to be changed;
and adjusting the vehicle running path according to the vehicle lane changing path, so that the target vehicle can change the lane when running to the vehicle lane changing path according to the adjusted vehicle running path.
In a second aspect, an embodiment of the present invention further provides a vehicle lane changing device, which may include:
the vehicle driving path obtaining module is used for constructing a topological relation according to a target map related to a vehicle driving task of a target vehicle, and searching a path according to the topological relation and the vehicle driving task to obtain a vehicle driving path, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map in the same direction;
the vehicle lane change path determining module is used for determining adjacent lanes to be changed from all vehicle driving lanes of the vehicle driving path and determining a vehicle lane change path according to the adjacent lanes to be changed;
and the target vehicle lane changing module is used for adjusting the vehicle running path according to the vehicle lane changing path so that the target vehicle can change lanes when running to the vehicle lane changing path according to the adjusted vehicle running path.
In a third aspect, an embodiment of the present invention further provides a vehicle lane change device, which may include:
one or more processors;
a memory for storing one or more programs;
when executed by one or more processors, the one or more programs cause the one or more processors to implement the method for changing lanes for a vehicle as provided by any of the embodiments of the present invention.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the lane changing method for a vehicle provided in any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, the topological relation constructed according to the target map associated with the vehicle driving task of the target vehicle comprises the bidirectional connection relation between adjacent map lanes in the same direction in the target map, so that the vehicle driving path obtained after the path search is carried out according to the topological relation and the vehicle driving task may comprise mutually connected vehicle driving lanes and/or mutually adjacent vehicle driving lanes; for the adjacent vehicle driving lanes (namely lanes to be changed) in each vehicle driving lane, a vehicle lane changing path can be determined according to each lane to be changed, and the lane changing time of the target vehicle during lane changing can be shown; and then, according to the vehicle lane change path, adjusting the previously obtained vehicle running path which does not give accurate lane change time, so that the target vehicle just changes the lane when the target vehicle runs to the vehicle lane change path according to the adjusted vehicle running path. According to the technical scheme, the target vehicle can bypass the closed lane in a lane changing mode when meeting a lane closing condition, so that the problems of bypassing and/or long-term running on a dangerous lane section caused by lane closing are solved.
Drawings
FIG. 1a is a schematic view of a vehicle travel path when not in a lane-closure in the prior art;
FIG. 1b is a schematic view of a vehicle travel path during a lane-closure in the prior art;
FIG. 2 is a flow chart of a lane change method for a vehicle according to a first embodiment of the present invention;
FIG. 3a is a schematic diagram of a map lane in a lane changing method of a vehicle according to a first embodiment of the present invention;
FIG. 3b is a schematic diagram of a driving path of a vehicle in a lane changing method according to a first embodiment of the present invention;
FIG. 3c is a schematic diagram of a lane change path of a vehicle in a lane change method according to a first embodiment of the present invention;
FIG. 4 is a flowchart of a lane change method for a vehicle according to a second embodiment of the present invention;
fig. 5a is a schematic diagram of adjacent paths between candidate lane change paths in a vehicle lane change method according to a second embodiment of the present invention;
FIG. 5b is a schematic diagram of a backward extended path in a lane changing method for a vehicle according to a second embodiment of the present invention;
FIG. 6 is a flowchart of a lane change method for a vehicle according to a third embodiment of the present invention;
FIG. 7 is a flow chart of a method of changing lanes for a vehicle in a fourth embodiment of the present invention;
FIG. 8a is a schematic diagram of a guidance sign in a vehicle lane-changing method according to a fourth embodiment of the present invention;
FIG. 8b is a flowchart of an alternative example of a lane change method for a vehicle according to a fourth embodiment of the present invention;
fig. 9 is a block diagram showing a configuration of a vehicle lane change device according to a fifth embodiment of the present invention;
fig. 10 is a schematic structural diagram of a vehicle lane change device in a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
Before the embodiment of the present invention is described, an application scenario of the embodiment of the present invention is exemplarily described: the vehicle driving task of the unmanned delivery vehicle is to drive from a starting point to a destination point, optionally, the navigation module may construct a topological graph according to the lane connectivity in the high-precision map, and then search out a final navigation route by combining with a graph search algorithm, for example, as shown in fig. 1a, the vehicle driving route is composed of a plurality of 1 s. It should be noted that the lane connectivity relationship in the high-precision map may include connectivity between the non-motor lane at the exit and the non-motor lane at the entrance, and connectivity between the motor lane at the exit and the motor lane at the entrance, but it does not include connectivity between the non-motor lane at the exit and the motor lane at the entrance, that is, there is no connectivity between the non-motor lane at the exit and the motor lane at the entrance based on the topological map constructed based on the high-precision map, and therefore, when the map search is performed based on the topological map, the navigation route from the non-motor lane to the motor lane is not searched. For example, referring to fig. 1b, when a certain section of the non-motor vehicle lane is blocked, the navigation module may delete corresponding connectivity in the topological graph, and the information of the blocked road may be considered as the obstacle information in the graph search link, and the resulting navigation route may be a vehicle travel path composed of a plurality of 3 as in fig. 1 b. It follows that when a lane is cut, not only the lane but also the lanes connected to the front and rear of the lane may not be selected in the map search, which may result in a situation where the final navigation route may largely detour or run in a dangerous lane for an unmanned vehicle for a long time.
Example one
Fig. 2 is a flowchart of a lane changing method for a vehicle according to a first embodiment of the present invention. The embodiment is applicable to the case of providing a vehicle running path which enables a target vehicle to change lanes when a lane cut is encountered. The method can be executed by the vehicle lane changing device provided by the embodiment of the invention, the device can be realized by software and/or hardware, the device can be integrated on vehicle lane changing equipment, and the equipment can be various user terminals or servers.
Referring to fig. 2, the method of the embodiment of the present invention specifically includes the following steps:
s110, constructing a topological relation according to a target map related to a vehicle running task of a target vehicle, and searching a path according to the topological relation and the vehicle running task to obtain a vehicle running path, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map in the same direction.
The target vehicle may be an unmanned vehicle having a vehicle driving task, such as an unmanned delivery vehicle, an unmanned motor vehicle, and the like, and the vehicle driving task (i.e., scheduling task information) may be a driving task that the target vehicle needs to complete, such as driving from a certain location (i.e., a starting point) to a certain location (i.e., an ending point). The target map may be a map required by the target vehicle to complete the vehicle running task, and a map of a portion from a start point to an end point in a certain map may be referred to as a target map. Here, the lanes in the target map are referred to as map lanes (lane). Each map lane has a respective direction of travel that may indicate in which direction a target vehicle traveling on the respective map lane may travel. Furthermore, there are many possibilities for the respective map lanes in positional relationship, such as some map lanes being consecutive lanes, some map lanes being adjacent lanes, some map lanes being non-connected and non-connected lanes, and so on. Illustratively, as shown in fig. 3a, each dashed arrow therein represents one map lane, which shows two map lanes that are co-directional in the direction of travel and adjacent in a positional relationship, and two map lanes that are co-directional in the direction of travel and connected in a positional relationship. It should be emphasized that, although the target map constructed by pre-map-taking only has connectivity between map lanes connected in a position relationship, when constructing the topological relationship from the target map, it is also necessary to consider the connectivity between map lanes adjacent in a position relationship and in the same direction in a travelable direction, that is, the topological relationship constructed thereby may include a bidirectional connection relationship between map lanes adjacent in a direction, which indicates that the target vehicle may change lanes between such map lanes, which is an important prerequisite for realizing the subsequent vehicle lane change.
Further, a path search is performed according to the topological relation and the vehicle driving task, so as to obtain a vehicle driving path that the target vehicle needs to travel to complete the vehicle driving task, where the vehicle driving path may include one, two, or multiple map lanes, where the map lanes in the vehicle driving path are referred to as vehicle driving lanes, for example, a vehicle driving path formed by dashed arrows shown in fig. 3b, where a cross rectangle indicates a lane closure. In practical application, optionally, feature extraction may be performed on the topological relation (i.e., a directed graph), then path search may be performed based on the feature extraction result and the vehicle driving task, and artificial obstacle information, lane weight assignment, and the like may also be considered in the path search process, which is not specifically limited herein. It should be noted that, since the route search is implemented based on the topological relation constructed as described above, the vehicle driving route obtained thereby may include the vehicle driving lanes connected in the position relation and may also include the adjacent vehicle driving lanes in the position relation, which mainly depends on the specific vehicle driving task and is not specifically limited herein.
S120, determining adjacent lanes to be changed from all the vehicle driving lanes of the vehicle driving path, and determining the vehicle lane changing path according to the adjacent lanes to be changed.
The lane to be changed is a vehicle driving lane adjacent to each other in position relation in each vehicle driving lane, or a vehicle driving lane adjacent to each other in position relation and in the same direction in a driving direction in each vehicle driving lane, and may indicate that the target vehicle needs to change lanes at this point. For example, the lanes to be changed may be the vehicle driving lane a and the vehicle driving lane b in fig. 3 b. Further, a vehicle lane change path may be determined based on the adjacent lanes to be changed, where the vehicle lane change path may be a path traveled by the target vehicle when performing a lane change, which gives a lane change timing of the target vehicle when performing the lane change. In practical applications, optionally, the vehicle lane change path may include a lane to be changed, a full or partial map lane connected to the lane to be changed, and the like, which are not specifically limited herein. For example, the vehicle change path illustrated in fig. 3c may include at least two full or partial map lanes.
S130, adjusting the vehicle running path according to the vehicle lane changing path, so that the target vehicle can change the lane when the target vehicle runs to the vehicle lane changing path according to the adjusted vehicle running path.
The method comprises the steps of obtaining a vehicle driving path, and obtaining a vehicle lane change path according to the vehicle driving path, wherein the vehicle driving path obtained previously does not give an accurate lane change time, so that the vehicle driving path can be adjusted based on the vehicle lane change path giving the accurate lane change time, and the target vehicle can change lanes when driving to the vehicle lane change path according to the adjusted vehicle driving path. For example, the adjusted vehicle travel path may be a vehicle travel path composed of a plurality of 4 as in fig. 3 c.
The execution timing of the above steps may be before the departure of the target vehicle, or during the running of the target vehicle, which is not specifically limited herein. In addition, taking the case where the unmanned delivery vehicle travels on a vehicle travel path composed of a plurality of 4 as in fig. 3c, since the vehicle lane and the non-vehicle lane near the lane-cut have connectivity in topological relation, the target vehicle travels on the vehicle lane only near the lane-cut and travels on the non-vehicle lane at the rest of the time, thereby ensuring the traveling safety of the unmanned delivery vehicle.
According to the technical scheme of the embodiment of the invention, the topological relation constructed according to the target map associated with the vehicle driving task of the target vehicle comprises the bidirectional connection relation between adjacent map lanes in the same direction in the target map, so that the vehicle driving path obtained after the path search is carried out according to the topological relation and the vehicle driving task may comprise mutually connected vehicle driving lanes and/or mutually adjacent vehicle driving lanes; for the adjacent vehicle driving lanes (namely lanes to be changed) in each vehicle driving lane, a vehicle lane changing path can be determined according to each lane to be changed, and the lane changing time of the target vehicle during lane changing can be shown; and then, the previously obtained vehicle running path which does not give accurate lane change opportunity is adjusted according to the vehicle lane change path, so that the target vehicle just changes lanes when running to the vehicle lane change path according to the adjusted vehicle running path. According to the technical scheme, the target vehicle can bypass the closed lane in a lane changing mode when meeting a lane closing condition, so that the problems of bypassing and/or long-term running on a dangerous lane section caused by lane closing are solved.
On this basis, an optional technical solution, constructing a topological relation according to a target map associated with a vehicle driving task of a target vehicle, may include: acquiring a target map associated with a vehicle driving task of a target vehicle, and determining the position relation among map lanes and the drivable direction of the map lanes in the target map; determining adjacent map lanes which are adjacent in the position relation and in the same direction in the travelable direction and map lanes which are connected in the position relation and in the same direction in the travelable direction and map lanes in the same direction from all the map lanes; the method comprises the following steps of constructing a bidirectional connection relation between adjacent map lanes in the same direction, and constructing a one-way connection relation consistent with the same direction between the connected map lanes in the same direction, wherein the one-way connection relation can show that a target vehicle can only carry out one-way driving, and can not carry out reversing driving or lane changing driving between the map lanes; and obtaining a topological relation according to each bidirectional connection relation and each unidirectional connection relation. In other words, the topological relation focuses on the transverse topological relation between the map lanes in the same left and right directions besides the predecessor and successor (namely, the longitudinal topological relation). On this basis, in order to better understand the building process of the above topological relation, the following example is taken to illustrate the process with specific examples: traversing each map lane in the target map, and taking each map lane as a point in a topological graph (the topological relation is represented as the topological graph); carrying out directional connection between points corresponding to the map lanes connected in front and back, and carrying out bidirectional connection between points corresponding to the left and right adjacent map lanes; according to the connecting result, a topological graph which focuses on the successor of the predecessor and the left-right homodromous direction at the same time is obtained, and the topological graph can also be called a directed graph.
Example two
Fig. 4 is a flowchart of a lane changing method for a vehicle according to a second embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, determining a lane change path of the vehicle according to adjacent lanes to be changed may include: determining a lane connection path connected with the lane to be changed from the target map for each lane to be changed in adjacent lanes to be changed, and determining a candidate lane change path of the lane to be changed according to the lane to be changed and the lane connection path; and determining a vehicle lane change path according to the candidate lane change paths of the adjacent lanes to be changed. The same or corresponding terms as those in the above embodiments are not explained in detail herein.
Referring to fig. 4, the method of this embodiment may specifically include the following steps:
s210, constructing a topological relation according to a target map associated with a vehicle running task of a target vehicle, and searching a path according to the topological relation and the vehicle running task to obtain a vehicle running path, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map in the same direction.
S220, determining adjacent lanes to be changed from all vehicle driving lanes of the vehicle driving path.
S230, determining a lane connection path connected with the lane to be changed from the target map for each adjacent lane to be changed in each lane to be changed, and determining a candidate lane change path of the lane to be changed according to the lane to be changed and the lane connection path.
The lane connection path connected to the lane to be changed may include at least one whole or partial map lane in the target map, where the map lane may be a vehicle driving lane or may not be a vehicle driving lane, that is, the lane connection path may be a part of the vehicle driving path or may not belong to the vehicle driving path, and is not specifically limited herein. In practical applications, optionally, for each lane to be changed at a certain lane change timing, the number of lane connection paths connected to the lane to be changed may be one (i.e., connected in the vehicle forward direction or the vehicle backward direction of the target vehicle) or two (i.e., connected in both the vehicle forward direction and the vehicle backward direction of the target vehicle), which is not specifically limited herein.
Further, a candidate lane change path of the lane to be changed is determined according to the lane to be changed and the lane connection path, and the candidate lane change path can be a lane change path which can be selected when the target vehicle changes lanes for a certain lane to be changed. For example, a path after the lane to be changed and the lane connection path are connected may be used as a candidate lane change path; the path positioned in the central part in the paths after the lane to be changed is connected with the lane connecting path can be used as a candidate lane changing path; etc., and are not specifically limited herein.
S240, determining a vehicle lane changing path according to the candidate lane changing paths of the adjacent lanes to be changed.
The vehicle lane change path can be a lane change path finally selected by a target vehicle during lane change, and various determination modes exist, for example, an adjacent path between candidate lane change paths of adjacent lanes to be changed is used as the vehicle lane change path, because the adjacent paths are paths capable of performing lane change; for example, an adjacent path between candidate lane changing paths of adjacent lanes to be changed is used as an adjacent lane changing path, and a lane sealing path associated with each adjacent lane to be changed is obtained, wherein the lane sealing path can be a sealed path which cannot be driven, and then the adjacent lane changing path except the lane sealing path in the adjacent lane changing path is used as a vehicle lane changing path, or the adjacent lane changing path except the lane sealing path and a path with a preset length along the vehicle backward direction of the target vehicle from the lane sealing path in the adjacent lane changing path is used as a vehicle lane changing path, so that the condition that the lane sealing path is used as the vehicle lane changing path can be avoided; etc., and are not specifically limited herein. For better understanding of the adjacent paths between the candidate lane change paths, for example, referring to fig. 5a, the path where the diagonal lines are located may be understood as the adjacent paths between the candidate lane change paths.
And S250, adjusting the vehicle running path according to the vehicle lane changing path, so that the target vehicle can change the lane when the target vehicle runs to the vehicle lane changing path according to the adjusted vehicle running path.
According to the technical scheme of the embodiment of the invention, for each lane to be changed in adjacent lanes to be changed, the candidate road changing path of the lane to be changed is determined through the lane connecting path which is determined from the target map and is connected with the lane to be changed and the lane to be changed, and then the vehicle road changing path of the target vehicle is determined according to each candidate road changing path, so that the vehicle road changing path which can change lanes on each lane to be changed is obtained.
On this basis, optionally, the adjacent lanes to be changed include a lane before changing lane and a lane after changing lane, and determining a lane connection path connected with the lane to be changed from the target map may include: taking a path which is positioned in the backward direction of the vehicle of the target vehicle and is connected with a lane before lane changing as a backward extension path of the lane before lane changing in the target map, and taking a path which is adjacent to the backward extension path of the lane before lane changing and is connected with a lane after lane changing in the target map as a backward extension path of the lane after lane changing; taking a path which is positioned in the advancing direction of the vehicle of the target vehicle and is connected with the lane after lane changing as a forward extension path of the lane after lane changing in the target map, and taking a path which is adjacent to the forward extension path of the lane after lane changing and is connected with the lane before lane changing in the target map as a forward extension path of the lane before lane changing; the forward extension path of the lane before lane changing and the backward extension path of the lane before lane changing are used as a lane connection path connected with the lane before lane changing, and the forward extension path of the lane after lane changing and the backward extension path of the lane after lane changing are used as a lane connection path connected with the lane after lane changing. The lane before lane changing can be a lane where the target vehicle in each lane to be changed is located before lane changing, and the lane after lane changing can be a lane where the target vehicle in each lane to be changed is located after lane changing; the vehicle backward direction may be a direction directly opposite to a current traveling direction of the target vehicle, and the vehicle forward direction may be a direction directly the same as the current traveling direction of the target vehicle. According to the technical scheme, the range of the lane connection path is effectively expanded (namely, the lane connection path exists in the advancing direction and the backing direction of the vehicle), and the connection paths of the vehicles of different lanes to be changed are ensured to be as possible.
In order to better understand the above-described determination process of the lane connection path, an exemplary description thereof will be given below with reference to a specific example. Referring to fig. 5b, each lane has a respective lane id, so the vehicle travel path includes a string of lane ids from the start point to the end point, such as a and b in fig. 5b, which can be understood as lane ids. The lane to be changed a is a lane before lane changing, and the lane to be changed b is a lane after lane changing. Dividing each lane id into multiple segments by taking each lane change as a boundary, for example, each lane id comprises 0 12 34 5 7, traversing a string of lane ids, when a next lane id is adjacent to a previous lane id, indicating that lane change is required, and dividing the segments between the corresponding lane ids and lane ids, for example, when 3 and 4 are adjacent to each other in a target map, 0 12 34 6 is divided into 0 12 3 and 45 6, and when 3 is equal to a and 4 is equal to b in fig. 5b, namely, the last lane id (i.e. a) of each segment and the first lane id (i.e. b) of the next segment of the segment belong to a horizontal neighbor in the target map. Taking a distance from a to the vehicle backward direction of the target vehicle as a backward extension path c of a, and taking a transverse neighbor d of the backward extension path c of a as a forward drive of b (namely, the backward extension path of b); and taking a distance from b to the vehicle advancing direction of the target vehicle as a forward extension path of b, and taking the lateral neighbor of the forward extension path of b as the successor of a (namely the forward extension path of a). Further, the forward extended path of a and the backward extended path c of a are used as the vehicle connection path of a; b are similar.
EXAMPLE III
Fig. 6 is a flowchart of a lane changing method for a vehicle according to a third embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, the performing the path search according to the topological relation and the vehicle driving task may include: acquiring preset vehicle lane change cost when a target vehicle changes lanes from a non-motor lane to a motor lane, and searching a path according to the topological relation, the vehicle driving task and the vehicle lane change cost; the vehicle lane change cost is determined according to a preset minimum length and a weight difference value, the weight difference value comprises a difference value between a weight assignment of a motor lane and a weight assignment of a non-motor lane, the weight assignment of the motor lane is greater than the weight assignment of the non-motor lane, and the preset minimum length comprises a preset minimum length required when a target vehicle is changed from the motor lane to the non-motor lane and then to the motor lane. The same or corresponding terms as those in the above embodiments are not explained in detail herein.
Referring to fig. 6, the method of this embodiment may specifically include the following steps:
s310, constructing a topological relation according to a target map related to a vehicle running task of the target vehicle, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map and map lanes in the same direction.
S320, vehicle lane changing cost when a preset target vehicle changes lanes from a non-motor vehicle lane to a motor vehicle lane is obtained, path searching is conducted according to a topological relation, a vehicle driving task and the vehicle lane changing cost, and a vehicle driving path is obtained, wherein the vehicle lane changing cost is determined according to a preset minimum length and a weight difference value, the weight difference value comprises a difference value between weight assignment of the motor vehicle lane and weight assignment of the non-motor vehicle lane, the weight assignment of the motor vehicle lane is larger than that of the non-motor vehicle lane, and the preset minimum length comprises a preset minimum length required when the target vehicle changes lanes from the motor vehicle lane to the non-motor vehicle lane and then to the motor vehicle lane.
In order to ensure the driving safety of the unmanned vehicle, the route on the non-motor vehicle lane can be searched as much as possible in the route searching process, so that the vehicle lane changing cost can be the preset cost required when the target vehicle changes the lane from the non-motor vehicle lane to the motor vehicle lane, and can be used as one of the reference factors for route searching. The vehicle lane change cost can be determined according to a preset minimum length and a weight difference value, wherein the preset minimum length can be the preset minimum length required when the target vehicle changes lanes from a motor lane to a non-motor lane to the motor lane again, and specifically, in practical application, the non-motor lane may have the conditions of lane sealing, lane unsealing and lane sealing, namely, a portion capable of driving exists in the middle of two segments of the sealing, then the non-sealing portion can be drilled (namely, the vehicle lane is changed to the non-motor lane) if the non-sealing portion is longer, otherwise, the vehicle does not need to be drilled (because the non-motor lane is just changed from the motor lane and the vehicle lane is changed to the motor lane again), namely, the preset minimum length can be the length which is just drilled and needs to be drilled immediately, in other words, the minimum length which is not required to change lanes from the motor lane to the non-motor lane to the motor lane. The weight difference may comprise a difference between a weight assignment for a motorway and a weight assignment for a non-motorway, both of which are preset values, which may be understood as a cost to be paid per meter per mile (i.e. a penalty to be accepted). On the basis, for example, the setting principle of the lane change cost of the vehicle may be as follows: changing _ lane _ cost = min _ length [ ((driving _ cost-cycle _ cost) ], where changing _ lane _ cost is a vehicle lane change cost, min _ length is a preset minimum length, driving _ cost is a weight assignment of a motor lane, and the cycle _ cost includes a weight assignment of a non-motor lane, so that when the length of an unsealed portion is > min _ length, the cost that needs to be paid when a motor lane is not changed to a non-motor lane is length [ ((driving _ cost-cycle _ cost) ] which is greater than change _ lane _ cost, and thus, two lane changes are selected at this time, namely, a lane change from a motor lane to a non-motor lane is changed to a motor lane. It should be noted that, in practical applications, the cost required for changing from the motor vehicle lane to the non-motor vehicle lane may be 0.
S330, determining adjacent lanes to be changed from the lanes of the vehicle in the vehicle running path, and determining the vehicle lane changing path according to the adjacent lanes to be changed.
And S340, adjusting the vehicle running path according to the vehicle lane changing path, so that the target vehicle can change the lane when running to the vehicle lane changing path according to the adjusted vehicle running path.
According to the technical scheme of the embodiment of the invention, the lane changing cost of the target vehicle when the lane is changed from the non-motor lane to the motor lane is considered in the path searching process, so that the proportion of the motor lane in each vehicle driving lane in the obtained vehicle driving path is effectively reduced, and the driving safety of the target vehicle is ensured.
Example four
Fig. 7 is a flowchart of a lane changing method for a vehicle according to a fourth embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, adjusting the vehicle driving path according to the vehicle lane change path to change the lane when the target vehicle drives to the vehicle lane change path according to the adjusted vehicle driving path may include: adjusting a vehicle running path according to the vehicle lane changing path, and updating the vehicle running path according to an adjustment result, wherein the vehicle running path comprises a vehicle lane changing path, and the vehicle lane changing path comprises a path before lane changing and a path after lane changing; acquiring vehicle running guide marks on a vehicle running path, and determining a lane change front guide mark on the path before lane change and a lane change rear guide mark on the path after lane change from the vehicle running guide marks; and generating a vehicle lane change guide identifier according to the pre-lane change guide identifier and the post-lane change guide identifier so that the target vehicle can change lanes according to the vehicle lane change guide identifier when the target vehicle runs to the vehicle lane change path according to the vehicle running path. The same or corresponding terms as those in the above embodiments are not explained in detail herein.
Referring to fig. 7, the method of this embodiment may specifically include the following steps:
s410, constructing a topological relation according to a target map related to a vehicle running task of a target vehicle, and searching a path according to the topological relation and the vehicle running task to obtain a vehicle running path, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map and map lanes in the same direction.
S420, determining adjacent lanes to be changed from all the vehicle driving lanes of the vehicle driving path, and determining the vehicle lane changing path according to the adjacent lanes to be changed.
And S430, adjusting the vehicle driving path according to the vehicle lane changing path, and updating the vehicle driving path according to the adjustment result, wherein the vehicle driving path comprises a vehicle lane changing path, and the vehicle lane changing path comprises a path before lane changing and a path after lane changing.
The vehicle lane change path is used as a part of a vehicle driving path, and may include a lane change front path where the target vehicle is located before lane change and a lane change rear path where the target vehicle is located after lane change.
S440, obtaining vehicle running guide marks on the vehicle running path, and determining a lane changing front guide mark on the lane changing front path and a lane changing back guide mark on the lane changing back path from the vehicle running guide marks.
Here, the vehicle driving guidance mark on the vehicle driving path may be generated according to a center line of a map lane corresponding to the vehicle driving path, which may be a mark for guiding how the target vehicle drives, as an example, as a dotted arrow in fig. 3 c. The pre-lane change guide identifier is a vehicle driving guide identifier located on a pre-lane change path, and the post-lane change guide identifier is a vehicle driving guide identifier located on a post-lane change path, as shown in fig. 8, where e is the pre-lane change guide identifier, and f is the post-lane change guide identifier.
S450, generating a vehicle lane change guide identifier according to the pre-lane change guide identifier and the post-lane change guide identifier, so that when the target vehicle runs to the vehicle lane change path according to the vehicle running path, the lane change is carried out according to the vehicle lane change guide identifier.
The vehicle lane change guidance mark can be a mark for guiding a target vehicle how to change lanes, and can be generated according to the pre-lane change guidance mark and the post-lane change guidance mark, for example, when the pre-lane change guidance mark and the post-lane change guidance mark are both straight lines, the straight line connecting the starting point of the pre-lane change guidance mark and the ending point of the post-lane change guidance mark can be used as the vehicle lane change guidance mark; generating a vehicle lane change guide identifier according to the position relationship between each lane change front guide point in the lane change front guide identifier and each lane change rear guide point in the lane change rear guide identifier; etc., which are not specifically limited herein. Therefore, when the target vehicle runs to the vehicle lane change path according to the vehicle running path, the lane change can be carried out according to the vehicle lane change guide mark, and the effect of accurately changing the lane of the target vehicle is achieved. For example, the vehicle lane change indicator may be g in fig. 8. On the basis, optionally, the pre-lane changing guide identifier and the post-lane changing guide identifier in the vehicle driving guide identifier can be removed, then the vehicle lane changing guide identifier and the removal result are spliced, and the vehicle driving guide identifier is updated according to the splicing result, the vehicle driving guide identifier is the spliced result of the vehicle lane changing guide identifier and the rest of the guide identifiers, and therefore the target vehicle can change lanes when driving to the vehicle lane changing path according to the vehicle driving guide identifier on the vehicle driving path.
According to the technical scheme of the embodiment of the invention, the vehicle driving path obtained after the vehicle driving path is adjusted according to the vehicle lane changing path comprises the vehicle lane changing path, the vehicle lane changing path comprises the path before lane changing and the path after lane changing, and the vehicle lane changing guide mark for guiding the target vehicle to change lanes can be generated according to the pre-lane changing guide mark on the path before lane changing and the post-lane changing guide mark on the path after lane changing, so that the target vehicle can change lanes according to the vehicle lane changing guide mark when driving to the vehicle lane changing path according to the vehicle driving path, and the effect of accurately changing lanes of the target vehicle is achieved.
On this basis, optionally, generating the vehicle lane change guidance identifier according to the pre-lane change guidance identifier and the post-lane change guidance identifier may include: extracting lane change front guide points from the lane change front guide marks and extracting lane change rear guide points from the lane change rear guide marks in pairs based on a preset spacing distance; determining a tendency parameter according to the distance between the guide point before lane changing and a preset guide endpoint in the guide mark before lane changing and determining a vehicle lane changing guide mark point according to the tendency parameter, the guide point before lane changing and the guide point after lane changing aiming at each pair of the guide point before lane changing and the guide point after lane changing; and generating vehicle lane change guide marks according to the vehicle lane change guide mark points.
The preset spacing distance can be the distance between two preset guide points, and based on the preset spacing distance, the guide points before lane changing are extracted from the guide marks before lane changing in pairs and the guide points after lane changing are extracted from the guide marks after lane changing in pairs, namely the guide points before lane changing and the guide points after lane changing appear in pairs. The preset guidance endpoint may be one endpoint in the guidance identifier before lane changing, and for each pair of the guidance point before lane changing and the guidance point after lane changing, the tendency parameter may be determined according to a distance between the guidance point before lane changing and the preset guidance endpoint in the guidance identifier before lane changing, or, of course, the tendency parameter may be determined according to a distance between the guidance point after lane changing and the preset guidance endpoint in the guidance identifier after lane changing, and the tendency parameter may indicate whether the vehicle lane changing guidance identification point determined by the guidance point before lane changing and the guidance point after lane changing is more inclined to the guidance point before lane changing or the guidance point before lane changing. Further, the vehicle lane change guidance marks may be generated from the respective vehicle lane change guidance mark points. In practical applications, optionally, the vehicle lane change guidance mark point may be represented by a coordinate, a path where the vehicle lane change guidance mark point is located, and the like, where the located path may be determined by a tendency parameter, which may indicate whether the corresponding vehicle lane change guidance mark point is located on a path before lane change or a path after lane change.
In order to better understand the generation process of the vehicle lane change guide identifier, an exemplary description will be given below with reference to a specific example. For a lane change path [0.0, max change lane length ], where (0, 0) is the starting point of the lane change path of the vehicle and max change lane length is the ending point of the lane change path of the vehicle, a position s is selected at every preset interval distance kStep (e.g. 0.2 m), where s is the mileage relative to the starting point. Aiming at a post-lane-change guidance point1 and a pre-lane-change guidance point2 which are positioned on the s; let the trend parameter Lambda = s/max _ change _ lane _ length, the vehicle lane change index point = point1 Lambda + point2 Lambda (1 Lambda), i.e., lambda is the proportion representing the trend toward point1, so that the lane change from the path before the lane change to the path after the lane change can be performed in a gradual manner. On this basis, if lambda <0.5, this indicates that the path where point is located is the path where point2 is located, otherwise, it is the path where point1 is located.
In order to better understand the implementation logic of the above steps as a whole, the following description is made by way of example with reference to specific examples. For example, referring to fig. 8b, for a navigation lane change policy of an unmanned delivery vehicle, a navigation module may receive a target map, artificial obstacle information, and scheduling task information, construct a topological relationship including a bidirectional connection relationship between adjacent and equidirectional map lanes in the target map according to the target map, perform feature extraction on the topological relationship, obtain a vehicle lane change cost pre-constructed according to each weight assignment, perform path search based on a feature extraction result, the vehicle lane change cost, the artificial obstacle information, and the scheduling task information, determine a vehicle lane change path according to the vehicle driving path obtained by the search, construct a vehicle lane change guidance identifier on the vehicle lane change path according to the vehicle driving guidance identifier on the vehicle driving path, and thereby obtain a final navigation path.
EXAMPLE five
Fig. 9 is a block diagram of a vehicle lane-changing device according to a fifth embodiment of the present invention, which is configured to execute the vehicle lane-changing method according to any of the embodiments. The device and the vehicle lane changing method of each embodiment belong to the same inventive concept, and details which are not described in detail in the embodiment of the vehicle lane changing device can refer to the embodiment of the vehicle lane changing method. Referring to fig. 9, the apparatus may specifically include: the system comprises a vehicle running path obtaining module 510, a vehicle lane change path determining module 520 and a target vehicle lane change module 530.
The vehicle driving path obtaining module 510 is configured to construct a topological relationship according to a target map associated with a vehicle driving task of a target vehicle, and perform path search according to the topological relationship and the vehicle driving task to obtain a vehicle driving path, where the topological relationship includes a bidirectional connection relationship between adjacent map lanes in the target map and map lanes in the same direction;
the vehicle lane change path determining module 520 is configured to determine adjacent lanes to be changed from the vehicle driving lanes in the vehicle driving path, and determine a vehicle lane change path according to the adjacent lanes to be changed;
and the target vehicle lane changing module 530 is configured to adjust a vehicle driving path according to the vehicle lane changing path, so that the target vehicle changes lanes when driving to the vehicle lane changing path according to the adjusted vehicle driving path.
Optionally, the vehicle driving path obtaining module 510 may include:
a lane information determination unit for acquiring a target map associated with a vehicle travel task of a target vehicle, and determining a positional relationship between map lanes in the target map and travelable directions of the map lanes;
a map lane determining unit for determining, from among the map lanes, adjacent and equidirectional map lanes that are adjacent in a positional relationship and equidirectional in a travelable direction, and connected and equidirectional map lanes that are connected in a positional relationship and equidirectional in a travelable direction;
the connection relation construction unit is used for constructing a bidirectional connection relation between adjacent map lanes in the same direction and constructing a unidirectional connection relation consistent with the same direction between the connected map lanes in the same direction;
and the topological relation obtaining unit is used for obtaining the topological relation according to each two-way connection relation and each one-way connection relation.
Optionally, the vehicle lane change path determining module 520 may include:
the candidate lane changing path determining unit is used for determining a lane connecting path connected with the lane to be changed from the target map for each lane to be changed in each adjacent lane to be changed, and determining a candidate lane changing path of the lane to be changed according to the lane to be changed and the lane connecting path;
and the vehicle lane change path determining unit is used for determining a vehicle lane change path according to the candidate lane change paths of the adjacent lanes to be changed.
On this basis, optionally, each adjacent lane to be changed includes a lane before changing and a lane after changing, and the candidate road changing path determining unit may include:
a backward extension path determining subunit, configured to use a path, which is located in a vehicle backward direction of the target vehicle and is connected to the lane before lane change, in the target map as a backward extension path of the lane before lane change, and use a path, which is adjacent to the backward extension path of the lane before lane change and is connected to the lane after lane change, in the target map as a backward extension path of the lane after lane change;
a forward extension path determining subunit, configured to use a path, which is located in a vehicle forward direction of the target vehicle and is connected to the lane after lane change, in the target map as a forward extension path of the lane after lane change, and use a path, which is adjacent to the forward extension path of the lane after lane change and is connected to the lane before lane change, in the target map as a forward extension path of the lane before lane change;
and the lane connection path determining subunit is used for taking the forward extension path of the lane before lane changing and the backward extension path of the lane before lane changing as the lane connection path connected with the lane before lane changing, and taking the forward extension path of the lane after lane changing and the backward extension path of the lane after lane changing as the lane connection path connected with the lane after lane changing.
On this basis, optionally, the vehicle lane change path determining module 520 may include:
the adjacent lane change path determining subunit is used for acquiring a lane sealing path associated with each adjacent lane to be changed and taking an adjacent path between candidate lane change paths of each adjacent lane to be changed as an adjacent lane change path;
and the vehicle lane change path determining unit is used for taking the adjacent lane change paths except the lane sealing path in the adjacent lane change paths as the vehicle lane change paths.
Optionally, the vehicle driving path obtaining module 510 may include:
the route searching unit is used for acquiring preset vehicle lane changing cost when a target vehicle changes a lane from a non-motor vehicle lane to a motor vehicle lane, and searching a route according to the topological relation, the vehicle running task and the vehicle lane changing cost; the vehicle lane change cost is determined according to a preset minimum length and a weight difference value, the weight difference value comprises a difference value between the weight assignment of a motor vehicle lane and the weight assignment of a non-motor vehicle lane, the weight assignment of the motor vehicle lane is larger than the weight assignment of the non-motor vehicle lane, and the preset minimum length comprises a preset minimum length required when a target vehicle changes from the motor vehicle lane to the non-motor vehicle lane to the motor vehicle lane.
Optionally, the target vehicle lane changing module 530 may include:
the vehicle driving path unit is used for adjusting a vehicle driving path according to a vehicle lane change path and updating the vehicle driving path according to an adjustment result, wherein the vehicle driving path comprises a vehicle lane change path, and the vehicle lane change path comprises a path before lane change and a path after lane change;
the lane change guide identification determining unit is used for acquiring vehicle running guide identifications on a vehicle running path and determining a lane change front guide identification on the path before lane change and a lane change rear guide identification on the path after lane change from the vehicle running guide identifications;
and the target vehicle lane changing unit is used for generating a vehicle lane changing guide identifier according to the pre-lane changing guide identifier and the post-lane changing guide identifier so as to change lanes according to the vehicle lane changing guide identifier when the target vehicle runs to the vehicle lane changing path according to the vehicle running path.
On the basis, optionally, the target vehicle lane changing unit may include:
the lane change guide point extracting subunit is used for extracting lane change front guide points from the lane change front guide marks and extracting lane change rear guide points from the lane change rear guide marks in pairs based on the preset spacing distance;
the vehicle lane change guide mark point determining subunit is used for determining a tendency parameter according to the distance between the guide point before lane change and a preset guide endpoint in the guide mark before lane change aiming at each pair of guide point before lane change and guide point after lane change, and determining a vehicle lane change guide mark point according to the tendency parameter, the guide point before lane change and the guide point after lane change;
and the vehicle lane change guide mark generation subunit is used for generating vehicle lane change guide marks according to the vehicle lane change guide mark points.
On the basis, optionally, the target vehicle lane changing unit may include:
the vehicle lane change guide mark splicing subunit is used for removing a pre-lane change guide mark and a post-lane change guide mark in the vehicle driving guide mark and splicing the vehicle lane change guide mark and a removal result;
and the target vehicle lane changing subunit is used for updating the vehicle running guidance identifier according to the splicing result so as to change the lane when the target vehicle runs to the vehicle lane changing path according to the vehicle running guidance identifier on the vehicle running path.
In the vehicle lane changing device provided by the fifth embodiment of the present invention, the topological relation constructed by the vehicle driving route obtaining module according to the target map associated with the vehicle driving task of the target vehicle includes the bidirectional connection relation between adjacent map lanes in the target map in the same direction, so that the vehicle driving route obtained by performing route search according to the topological relation and the vehicle driving task may include the vehicle driving lanes connected to each other and/or the vehicle driving lanes adjacent to each other; for the adjacent vehicle driving lanes (namely lanes to be changed) in each vehicle driving lane, the vehicle lane change path determining module can determine a vehicle lane change path according to each lane to be changed, and can show the lane change time of the target vehicle when lane change is carried out; and then, the target vehicle lane changing module adjusts the previously obtained vehicle running path which does not give accurate lane changing time according to the vehicle lane changing path, so that the target vehicle just changes lanes when running to the vehicle lane changing path according to the adjusted vehicle running path. The device can lead the target vehicle to bypass the closed lane in a lane changing mode when meeting the lane closing, thereby solving the problem of the lane bypassing and/or the long-term running at the dangerous lane section caused by the lane closing.
The vehicle lane changing device provided by the embodiment of the invention can execute the vehicle lane changing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the vehicle lane changing device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE six
Fig. 10 is a schematic structural diagram of a vehicle lane-changing apparatus according to a sixth embodiment of the present invention, and referring to fig. 10, the apparatus includes a memory 610, a processor 620, an input device 630, and an output device 640. The number of processors 620 in the device may be one or more, and one processor 620 is taken as an example in fig. 10; the memory 610, processor 620, input device 630, and output device 640 in the apparatus may be connected by a bus or other means, such as by bus 650 in fig. 10.
The memory 610 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle lane change method in the embodiment of the present invention (e.g., the vehicle travel path obtaining module 510, the vehicle lane change path determining module 520, and the target vehicle lane change module 530 in the vehicle lane change device). The processor 620 executes various functional applications of the device and data processing by executing software programs, instructions and modules stored in the memory 610, thereby implementing the vehicle lane-changing method described above.
The memory 610 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 610 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 non-volatile solid state storage device. In some examples, memory 610 may further include memory located remotely from processor 620, which may be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 630 may be used to receive input numeric or character information and generate key signal inputs relating to user settings and function controls of the device. The output device 640 may include a display device such as a display screen.
EXAMPLE seven
A seventh embodiment of the present invention provides a storage medium containing computer-executable instructions that, when executed by a computer processor, perform a method for lane changing for a vehicle, the method comprising:
constructing a topological relation according to a target map associated with a vehicle running task of a target vehicle, and searching a path according to the topological relation and the vehicle running task to obtain a vehicle running path, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map in the same direction;
determining adjacent lanes to be changed from all vehicle driving lanes of the vehicle driving path, and determining the vehicle lane changing path according to the adjacent lanes to be changed;
and adjusting the vehicle running path according to the vehicle lane changing path, so that the target vehicle can change the lane when running to the vehicle lane changing path according to the adjusted vehicle running path.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the vehicle lane changing method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. With this understanding in mind, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (12)

1. A method of changing lanes of a vehicle, comprising:
constructing a topological relation according to a target map associated with a vehicle running task of a target vehicle, and searching a path according to the topological relation and the vehicle running task to obtain a vehicle running path, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map in the same direction; the bidirectional connection relation represents that the target vehicle can change lanes among the map lanes;
determining adjacent lanes to be changed from all vehicle driving lanes of the vehicle driving path, and determining a vehicle lane changing path according to the adjacent lanes to be changed; the vehicle lane change path is a path which is driven by the target vehicle when the lane is changed, and gives a lane change opportunity when the target vehicle changes the lane;
and adjusting the vehicle running path according to the vehicle lane changing path, so that the target vehicle can change the lane when running to the vehicle lane changing path according to the adjusted vehicle running path.
2. The method of claim 1, wherein constructing the topological relationship from a target map associated with the vehicle-travel task of the target vehicle comprises:
acquiring a target map associated with a vehicle driving task of a target vehicle, and determining the position relation among map lanes in the target map and the drivable direction of each map lane;
determining, from among the map lanes, adjacent and co-directional map lanes that are adjacent in the positional relationship and co-directional in the direction of travelability, and connected and co-directional map lanes that are connected in the positional relationship and co-directional in the direction of travelability;
constructing the bidirectional connection relationship between the adjacent map lanes in the same direction, and constructing a unidirectional connection relationship between the connected map lanes in the same direction, wherein the unidirectional connection relationship is consistent with the same direction;
and obtaining a topological relation according to each bidirectional connection relation and each unidirectional connection relation.
3. The method of claim 1, wherein determining a lane change path for a vehicle based on adjacent lanes of the lane to be changed comprises:
determining a lane connection path connected with the lane to be changed from the target map aiming at each lane to be changed in the adjacent lanes to be changed, and determining a candidate lane change path of the lane to be changed according to the lane to be changed and the lane connection path;
and determining a vehicle lane changing path according to the candidate lane changing paths of the adjacent lanes to be changed.
4. The method of claim 3, wherein each of the lanes to be changed that are adjacent to each other includes a lane before lane change lane and a lane after lane change lane, and the determining a lane connection path connected to the lane to be changed from the target map includes:
taking a path which is positioned in the vehicle backward direction of the target vehicle and is connected with the lane before lane changing in the target map as a backward extension path of the lane before lane changing, and taking a path which is adjacent to the backward extension path of the lane before lane changing and is connected with the lane after lane changing in the target map as a backward extension path of the lane after lane changing;
taking a path which is positioned in the vehicle advancing direction of the target vehicle and is connected with the lane after lane changing in the target map as a forward extension path of the lane after lane changing, and taking a path which is adjacent to the forward extension path of the lane after lane changing and is connected with the lane before lane changing in the target map as a forward extension path of the lane before lane changing;
and taking the forward extension path of the lane before lane changing and the backward extension path of the lane before lane changing as a lane connection path connected with the lane before lane changing, and taking the forward extension path of the lane after lane changing and the backward extension path of the lane after lane changing as a lane connection path connected with the lane after lane changing.
5. The method of claim 3, wherein determining a vehicle lane change path based on the candidate lane change paths of adjacent lanes to be changed comprises:
acquiring a lane closing path associated with each adjacent lane to be changed, and taking an adjacent path between the candidate lane changing paths of each adjacent lane to be changed as an adjacent lane changing path;
and taking the adjacent lane changing paths except the lane sealing path in the adjacent lane changing paths as vehicle lane changing paths.
6. The method of claim 1, wherein the performing a path search based on the topological relation and the vehicle travel task comprises:
obtaining preset vehicle lane change cost when a target vehicle changes lanes from a non-motor lane to a motor lane, and searching a path according to the topological relation, the vehicle driving task and the vehicle lane change cost;
the vehicle lane change cost is determined according to a preset minimum length and a weight difference value, the weight difference value comprises a difference value between a weight assignment of the motor lane and a weight assignment of the non-motor lane, the weight assignment of the motor lane is greater than the weight assignment of the non-motor lane, and the preset minimum length comprises a preset minimum length required when the target vehicle changes lanes from the motor lane to the non-motor lane and then to the motor lane.
7. The method of claim 1, wherein the adjusting the vehicle travel path according to the vehicle lane change path to change the lane when the target vehicle travels to the vehicle lane change path according to the adjusted vehicle travel path comprises:
adjusting the vehicle driving path according to the vehicle lane changing path, and updating the vehicle driving path according to an adjustment result, wherein the vehicle driving path comprises the vehicle lane changing path, and the vehicle lane changing path comprises a path before lane changing and a path after lane changing;
acquiring vehicle running guide marks on the vehicle running path, and determining a pre-lane change guide mark on the pre-lane change path and a post-lane change guide mark on the post-lane change path from the vehicle running guide marks;
and generating a vehicle lane change guide identifier according to the pre-lane change guide identifier and the post-lane change guide identifier, so that the target vehicle can change lanes according to the vehicle lane change guide identifier when driving to the vehicle lane change path according to the vehicle driving path.
8. The method of claim 7, wherein generating vehicle lane change guidance indicia from the pre-lane change guidance indicia and the post-lane change guidance indicia comprises:
extracting lane change front guide points from the lane change front guide marks and lane change rear guide points from the lane change rear guide marks in pairs based on a preset spacing distance;
for each pair of the pre-lane changing guide point and the post-lane changing guide point, determining a tendency parameter according to the distance between the pre-lane changing guide point and a preset guide end point in the pre-lane changing guide mark, and determining a vehicle lane changing guide mark point according to the tendency parameter, the pre-lane changing guide point and the post-lane changing guide point;
and generating a vehicle lane change guide mark according to each vehicle lane change guide mark point.
9. The method of claim 7, wherein said causing the target vehicle to change lanes according to the vehicle lane change guidance designation when traveling to the vehicle lane change path according to the vehicle travel path comprises:
removing the pre-lane changing guide identification and the post-lane changing guide identification in the vehicle driving guide identification, and splicing the vehicle lane changing guide identification and a removal result;
and updating the vehicle running guide identifier according to the splicing result so as to change the lane when the target vehicle runs to the vehicle lane changing path according to the vehicle running guide identifier on the vehicle running path.
10. A vehicle lane-changing device, comprising:
the vehicle driving path obtaining module is used for constructing a topological relation according to a target map related to a vehicle driving task of a target vehicle, and searching a path according to the topological relation and the vehicle driving task to obtain a vehicle driving path, wherein the topological relation comprises a bidirectional connection relation between adjacent map lanes in the target map in the same direction; the bidirectional connection relation represents that the target vehicle can change lanes among the map lanes;
the vehicle lane changing path determining module is used for determining adjacent lanes to be changed from all vehicle driving lanes of the vehicle driving path and determining a vehicle lane changing path according to the adjacent lanes to be changed; wherein the vehicle lane change path is a path traveled by the target vehicle when changing lanes, and the vehicle lane change path gives a lane change opportunity of the target vehicle when changing lanes;
and the target vehicle lane changing module is used for adjusting the vehicle running path according to the vehicle lane changing path so as to change the lane when the target vehicle runs to the vehicle lane changing path according to the adjusted vehicle running path.
11. A vehicle lane-change apparatus, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle lane-change method of any one of claims 1-9.
12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a vehicle lane change method according to any one of claims 1 to 9.
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US10345815B2 (en) * 2016-09-14 2019-07-09 Qualcomm Incorporated Motion planning and intention prediction for autonomous driving in highway scenarios via graphical model-based factorization
US10137896B2 (en) * 2016-12-30 2018-11-27 Baidu Usa Llc Method and system for operating autonomous driving vehicles using graph-based lane change guide
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