CN113581180B

CN113581180B - Congestion road condition lane change decision method, storage medium and electronic equipment

Info

Publication number: CN113581180B
Application number: CN202110872269.9A
Authority: CN
Inventors: 朱越; 占子奇; 曾欢
Original assignee: Dongfeng Nissan Passenger Vehicle Co
Current assignee: Dongfeng Nissan Passenger Vehicle Co
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2023-06-30
Anticipated expiration: 2041-07-30
Also published as: CN113581180A

Abstract

The application discloses a congestion road condition lane change decision method, a storage medium and electronic equipment, wherein a lane change decision function is started in response to the congestion road condition, a current position is taken as an initial position, vehicle lane change information in a decision reference distance in front of the initial position is collected, and the vehicle lane change information comprises the number of lane change vehicles and the type of lane change vehicles; determining lane change confidence according to the number of lane change vehicles and the type of lane change vehicles; and if the lane change confidence is greater than or equal to a confidence threshold, issuing a lane change executing instruction. Under the condition of a congested road condition, according to the vehicle lane change information in the front decision reference distance, the lane change confidence coefficient is determined to judge whether the front risk exists or not, the lane change instruction is required to be executed, the judgment is based on the running state of the front vehicle, the positioning system is not relied on, the reliability is high, and the temporary accidents or construction road sections of the congested road sections can be effectively avoided.

Description

Congestion road condition lane change decision method, storage medium and electronic equipment

Technical Field

The application relates to the technical field of automatic driving, in particular to a congestion road condition lane change decision method, a storage medium and electronic equipment.

Background

With the development of autopilot technology, the demand for autopilot is increasing. For automatic driving of a congested road condition, the current technical scheme is realized by automatic vehicle following, and the mode can realize automatic driving under the congested road condition, but can only blindly follow the front vehicle to walk, cannot pre-judge the front road condition and autonomously avoid the front risk.

In order to realize the pre-judgment of the front road condition, in the partial automatic driving technology, the front road condition is acquired through a vehicle positioning system to avoid risks, however, the road condition acquisition in the mode depends on the precision of the positioning system, and the temporary construction road section or the accident road section cannot be acquired from the vehicle positioning system in time, so that the risk is difficult to avoid in time.

Therefore, it is necessary to provide a method for determining a traffic jam condition and a storage medium, and an electronic device, which can pre-determine a front road condition and avoid a traffic jam condition.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a congestion road condition lane change decision method, a storage medium and electronic equipment, wherein the congestion road condition lane change decision method can be used for pre-judging the front road condition and avoiding the lane change under the congestion road condition.

The technical scheme of the application provides a congestion road condition lane change decision method, which comprises the following steps:

responding to the starting of a road condition lane change decision function, and taking a current position as an initial position, collecting vehicle lane change information in a decision reference distance in front of the initial position, wherein the vehicle lane change information comprises the number of lane change vehicles and the type of lane change vehicles;

determining lane change confidence according to the number of lane change vehicles and the type of lane change vehicles;

and if the lane change confidence is greater than or equal to a confidence threshold, issuing a lane change executing instruction.

Further, the lane change confidence is determined according to the number of lane change vehicles and the lane change vehicle type, and if the lane change confidence is greater than or equal to a confidence threshold, a lane change execution instruction is issued, which specifically includes:

if the number of lane-changing vehicles changing lanes from the own vehicle lane to other lanes is smaller than the preset number, the lane-changing vehicles are in a lane-changing state

Determining lane change confidence according to the lane change vehicle type;

if the lane change confidence is greater than or equal to a confidence threshold, a lane change execution instruction is sent out, otherwise, the lane change information of the vehicle in the decision reference distance in front of the initial position is continuously collected;

if the number of lane-changing vehicles changing lanes from the own vehicle lane to other lanes is greater than or equal to the preset number, then

And (5) considering that the lane change confidence is greater than or equal to a confidence threshold, and sending out a lane change execution instruction.

Further, the lane-changing vehicle types include a high confidence type and a low confidence type.

Further, the collecting the vehicle lane change information in the decision reference distance in front of the initial position specifically includes:

executing a first vehicle information acquisition step, and acquiring first vehicle lane change information of a first vehicle from a lane change of a host vehicle to other lanes;

a step of acquiring two-vehicle information, namely acquiring second vehicle lane changing information of a second vehicle from a lane of the vehicle to other lanes;

determining lane change confidence according to the first vehicle lane change information and the second vehicle lane change information, and if the lane change confidence is smaller than a confidence threshold value, determining that the lane change confidence is smaller than the confidence threshold value

And executing a three-vehicle information acquisition step, and acquiring third vehicle lane change information of a third vehicle from the own vehicle lane to other lanes.

Further, the step of collecting the information of the head car specifically includes:

if the vehicle body part of the head vehicle in front of the lane of the vehicle exceeds the lane line, determining the type of the head vehicle;

if the distance between the first vehicle lane change point and the initial position is greater than the decision reference distance, all data are cleared; otherwise

And if the head and the tail of the vehicle cross the lane line, storing the first vehicle lane change information, otherwise, clearing all data.

Further, the two-vehicle information acquisition step specifically includes:

if the current position of the vehicle does not cross the lane change point of the first vehicle, detecting that the vehicle crosses the lane line of the lane and the adjacent lane, determining the type of the vehicle;

if the two vehicles change lanes from the lane of the vehicle to the adjacent lane, and the tail of the two vehicles passes over the lane line; then

If the two lane change points are behind the first lane change point, storing second lane change information of the vehicle;

if the two lane change points are in front of the lane change point of the first vehicle, and

if the distance between the two lane change points and the current position of the vehicle is greater than the decision reference distance

Clearing all data;

the distance between the two lane change points and the current position of the vehicle is smaller than or equal to the decision reference distance, and

if the distance between the two lane change points and the initial position is larger than the decision reference distance, storing second vehicle lane change information, taking the current position of the vehicle as the initial position, and exchanging the first vehicle lane change information and the second vehicle lane change information;

the distance between the two lane change points and the initial position is smaller than or equal to the decision reference distance

And after the second vehicle lane change information is stored, exchanging the first vehicle lane change information and the second vehicle lane change information.

Further, the two-vehicle information acquisition step specifically includes:

if the two vehicles change lanes from the adjacent lane to the own vehicle lane, and the tail of the two vehicles passes over the lane line; then

If the distance between the two lane change points and the initial position is smaller than or equal to the decision reference distance, then

If the type of the first vehicle is the high-confidence type and the type of the second vehicle is the low-confidence type, the first vehicle is modified to be the low-confidence type, and then the second vehicle information acquisition step is returned; otherwise, all data are cleared;

if the distance between the two lane change points and the initial position is greater than the decision reference distance, and

and returning to a two-vehicle information acquisition step if the distance between the two-vehicle lane change point and the initial position is larger than a risk reference distance, and if the risk reference distance is larger than the decision reference distance, otherwise, clearing all data.

Further, the three-vehicle information acquisition step specifically includes:

if the current position of the vehicle does not cross the lane change point of the first vehicle, detecting that the three vehicles cross lane lines of the vehicle lane and the adjacent lane, and determining the type of the three vehicles;

if the three vehicles change lanes from the lane of the vehicle to the adjacent lane, and the tail of the three vehicles passes over the lane line; then

If the three lane changing points are behind the first lane changing point, storing third lane changing information of the vehicle;

if the three lane changing points are in front of the lane changing point of the first lane, and

the distance between the lane changing points of the three vehicles and the current position of the vehicle is greater than the decision reference distance, and all data are cleared;

if the distance between the three-vehicle lane change point and the initial position is smaller than or equal to the decision reference distance, storing third vehicle lane change information;

the distance between the three-vehicle lane changing point and the current position of the vehicle is smaller than or equal to the decision reference distance, and

the distance between the three-vehicle lane change point and the initial position is larger than the decision reference distance, and

the current position of the vehicle is behind the two lane change points

Storing third vehicle lane change information;

the current position of the vehicle is in front of two lane change points

After the third vehicle lane change information is stored, the current position of the vehicle is taken as an initial position, the second vehicle lane change information is deleted, the first vehicle lane change information is taken as the second vehicle lane change information, and the third vehicle lane change information is taken as the first vehicle lane change information.

Further, the three-vehicle information acquisition step specifically includes:

the three vehicles change lanes from the adjacent lanes to the own vehicle lane, and the tail of the three vehicles passes over the lane line; then

If the distance between the three-vehicle lane change point and the initial position is smaller than or equal to the decision reference distance, then

If the first vehicle type and the second vehicle type are both low-confidence type and the third vehicle type is high-confidence type, all data are cleared;

If the first vehicle type and the second vehicle type are both the low-confidence type and the third vehicle type is the low-confidence type, the second vehicle lane change information is cleared, and the second vehicle information acquisition step is returned;

if the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, the three vehicle types are the high confidence coefficient type, after the first vehicle type is modified to be the low confidence coefficient type, the second vehicle lane change information is cleared, and the second vehicle information is returned to the second vehicle information acquisition step;

if the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, the three vehicle types are the low confidence coefficient type, after the first vehicle type is modified to the high confidence coefficient type, the second vehicle lane change information is cleared, and the second vehicle information is returned to the second vehicle information acquisition step;

if the distance between the three lane changing points and the initial position is smaller than or equal to the decision reference distance, and

and returning to the three-vehicle information acquisition step if the distance between the three-vehicle lane change point and the initial position is greater than the risk reference distance, and if the risk reference distance is greater than the decision reference distance, otherwise, clearing all data.

Further, before the function of changing the road decision in response to the congestion road condition is started, the method further comprises:

Acquiring a current position and a current road condition;

if the current position is at the non-traffic intersection, and

the current road condition is a congested road condition, and

the congestion distance is smaller than or equal to the set congestion distance, then

And starting a congestion road condition lane change decision function.

The technical scheme of the application also provides a storage medium which stores computer instructions and is used for executing the congestion road condition lane change decision method when the computer executes the computer instructions.

The technical scheme of the application also provides electronic equipment, which comprises at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the congested road condition lane change decision method as described above.

After the technical scheme is adopted, the method has the following beneficial effects:

under the condition of a congested road condition, according to the vehicle lane change information in the front decision reference distance, the lane change confidence coefficient is determined to judge whether the front risk exists or not, the lane change instruction is required to be executed, the judgment is based on the running state of the front vehicle, the positioning system is not relied on, the reliability is high, and the temporary accidents or construction road sections of the congested road sections can be effectively avoided.

Drawings

The disclosure of the present application will become more readily understood with reference to the accompanying drawings. It should be understood that: the drawings are for illustrative purposes only and are not intended to limit the scope of the present application. In the figure:

FIG. 1 is a flow chart of a method for determining a change of a congestion road condition in an embodiment of the present application;

FIG. 2 is a schematic diagram of the mounting positions of the left and right cameras;

FIG. 3 is a schematic view of an image acquisition range of a vehicle on a road;

FIG. 4 is an example of a confidence lookup table;

FIG. 5 is a first case of lane change of the head car;

FIG. 6 is a first lane change scenario two;

FIG. 7 is a case one where two vehicles change lanes from the host vehicle lane to an adjacent lane;

FIG. 8 is a second case where two vehicles change lanes from the host vehicle lane to an adjacent lane;

FIG. 9 is a third case where two vehicles change lanes from the host vehicle lane to an adjacent lane;

FIG. 10 is a fourth scenario in which two vehicles change lanes from the host vehicle lane to an adjacent lane;

FIG. 11 is a case one where two vehicles change lanes from adjacent lanes to the host vehicle lane;

FIG. 12 is a second case where two vehicles change lanes from adjacent lanes to the host vehicle lane;

FIG. 13 is a third case where two vehicles change lanes from adjacent lanes to the host vehicle lane;

FIG. 14 is a situation one in which three vehicles change lanes from the host vehicle lane to the adjacent lane;

FIG. 15 is a second case where three vehicles change lanes from the host vehicle lane to an adjacent lane;

FIG. 16 is a third scenario in which three vehicles change lanes from the host vehicle lane to an adjacent lane;

FIG. 17 is a fourth scenario in which three vehicles change lanes from the host vehicle lane to an adjacent lane;

fig. 18 is a fifth case where three vehicles change lanes from the own vehicle lane to an adjacent lane;

FIG. 19 is a case one where three vehicles change lanes from an adjacent lane to the host vehicle lane;

FIG. 20 is a second case where three vehicles change lanes from adjacent lanes to the host vehicle lane;

FIG. 21 is a third scenario in which three vehicles change lanes from adjacent lanes to the host vehicle lane;

FIG. 22 is a main flow chart of a method for deciding a congestion status and a lane change in the embodiment of the present application;

FIG. 23 is a flowchart of the head-truck information acquisition step of the main flowchart of FIG. 22;

FIG. 24 is a flowchart showing the two-vehicle information acquisition step of the main flowchart shown in FIG. 22;

FIG. 25 is a flowchart showing the steps of three-vehicle information acquisition in the main flowchart shown in FIG. 22;

fig. 26 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.

Detailed Description

Specific embodiments of the present application are further described below with reference to the accompanying drawings.

It is easy to understand that, according to the technical solution of the present application, those skilled in the art may replace various structural manners and implementation manners without changing the true spirit of the present application. Accordingly, the following detailed description and drawings are merely illustrative of the present application and are not intended to be exhaustive or to be limiting of the application.

Terms of orientation such as up, down, left, right, front, rear, front, back, top, bottom, etc. mentioned or possible to be mentioned in the present specification are defined with respect to the configurations shown in the drawings, which are relative concepts, and thus may be changed according to different positions and different use states thereof. These and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between the two components. The above-described specific meanings belonging to the present application are understood as appropriate by those of ordinary skill in the art.

The method for deciding the traffic jam and road conditions in the embodiment of the present application, as shown in fig. 1, includes the following steps:

step S001: responding to the starting of a road condition lane change decision function, and taking a current position as an initial position, collecting vehicle lane change information in a decision reference distance in front of the initial position, wherein the vehicle lane change information comprises the number of lane change vehicles and the type of lane change vehicles;

step S002: determining lane change confidence according to the number of lane change vehicles and the type of lane change vehicles;

step S003: and if the lane change confidence is greater than or equal to a confidence threshold, issuing a lane change executing instruction.

Judging real-time road conditions through a positioning system, starting a road changing decision function of the congested road conditions when the congested road conditions are met, executing step S001, recording the position of a vehicle when the road changing decision function of the congested road conditions is started as an initial position, starting to monitor the front of the initial position, collecting vehicle road changing information in a decision reference distance in front of the initial position, and setting the decision reference distance to be 20m as an example.

Specifically, for the acquisition of lane change information of a front vehicle, mainly by means of a front camera and a left and right camera mounted in front of the vehicle, it should be noted that, as shown in fig. 2, a left camera 21 and a right camera 22 in this embodiment are mounted on a left rear view mirror and a right rear view mirror of the vehicle, respectively, and face forward for acquiring images of the left front and the right front of the vehicle. As shown in fig. 3, the vehicle can acquire real-time images of a front host lane and an adjacent lane in combination with a front camera mounted directly in front of the vehicle. By processing the image, data such as the vehicle type and the position of the target vehicle are identified.

After the lane change information of the vehicle within the decision reference distance in front of the initial position is collected, step S002 is executed to determine the lane change confidence, where the lane change confidence is used to measure the possibility of the obstacle existing on the front road reflected by the behavior of the front lane change vehicle, and the higher the lane change confidence is, the higher the possibility of the obstacle existing on the front road is, and the higher the lane change requirement is.

Specifically, the more the number of lane-changing vehicles is, the higher the lane-changing confidence is, and meanwhile, the different types of lane-changing vehicles have different corresponding lane-changing confidence, for example, the lane-changing confidence of a small car is smaller than the lane-changing confidence of a large truck, which is because the lane-changing difficulty of the large truck is higher under the condition of a congested road condition, so if the large truck performs lane-changing, the possibility that the road in front has an obstacle is higher, and the lane-changing confidence correspondingly arranged is also higher.

After determining the lane change confidence, step S003 is executed, where a confidence threshold is preset according to the actual situation, if the lane change confidence is higher than the confidence threshold, the lane change execution instruction is issued if the possibility of the road ahead being blocked is considered to be higher, and the automatic driving control system controls the vehicle to change lanes.

According to the method and the device for determining the lane change confidence, the lane change confidence is determined according to the lane change information of the vehicle in the front decision reference distance so as to judge whether the road ahead has an obstacle or not, the lane change instruction is required to be executed, the judgment is based on the running state of the vehicle ahead, the positioning system is not relied on, the reliability is high, and temporary accidents or construction road sections of a congestion road section can be effectively avoided.

In one embodiment, before the lane change decision function responding to the congested road condition is started, the method further includes:

acquiring a current position and a current road condition;

if the current position is at the non-traffic intersection, and

the current road condition is a congested road condition, and

And starting a congestion road condition lane change decision function.

Specifically, the congestion road condition lane change decision function is automatically started through judging the road condition, the current position and the current road condition are obtained from a vehicle positioning system, and if the condition that the congestion road condition is met, the current position is at a non-traffic intersection, and the congestion distance is smaller than or equal to the set congestion distance is met, the temporary fault of the road in front is considered to exist, and the congestion road condition lane change decision function is started; otherwise, after the set waiting time, the current road condition is continuously collected for judgment. After the congestion road condition lane change decision function is started, starting the acquisition camera and initializing all parameters related to the function.

Firstly, if the current position is at a traffic intersection, the current congestion road condition is indicated by traffic lights, the possibility of temporary faults is low, in addition, if the congestion distance is smaller than or equal to the set congestion distance, the set congestion distance is generally set to be 3-5km, the setting of the set congestion distance is used for indicating that the road in front is clear, if a temporary fault point exists in front, the vehicle is about to reach the temporary fault point, and at the moment, the congestion road condition road change decision function is started.

According to the embodiment of the application, whether the traffic jam road condition lane change decision function is started or not is judged according to the current road condition, the traffic jam at the traffic intersection is eliminated, the traffic jam road condition lane change decision function is started when the temporary fault point is close, and invalid judgment caused by early starting is avoided.

In one embodiment, the determining lane change confidence according to the number of lane change vehicles and the lane change vehicle type, and if the lane change confidence is greater than or equal to a confidence threshold, issuing a lane change execution instruction specifically includes:

Determining lane change confidence according to the lane change vehicle type;

Specifically, the lane-changing vehicles described in the embodiments of the present application are all vehicles that change lanes from the current lane to the adjacent lane of the host vehicle. The lane change confidence is determined by the lane change vehicle type and the lane change vehicle number together, and when the lane change vehicle number reaches the preset number, the lane change confidence can be considered to be necessarily larger than or equal to a confidence threshold value, and lane change needs to be executed.

As one example, the preset number is set to three, and when the number of lane-change vehicles reaches three, the lane-change confidence is considered to be necessarily greater than or equal to the confidence threshold. Preferably, when the number of lane change vehicles is one, the lane change confidence is considered to be necessarily smaller than the confidence threshold according to the lane change confidence setting rule.

Therefore, the lane change confidence coefficient can be determined and compared with the confidence coefficient threshold value only when the number of lane change vehicles reaches two, and if the lane change confidence coefficient is higher than the confidence coefficient threshold value, a lane change execution instruction is sent out. And when the number of the lane change vehicles reaches three, a lane change executing instruction is directly sent out.

According to the lane change vehicle number, the lane change confidence judgment is not carried out when the lane change vehicles are one, the lane change execution instruction is directly sent when the lane change vehicles are three, and the lane change confidence judgment is carried out only when the lane change vehicles are two, so that the lane change execution instruction judgment flow is simplified, the data calculation is reduced, and the judgment efficiency is improved.

In one embodiment, the lane-changing vehicle types include a high confidence type and a low confidence type.

Specifically, the vehicle types are classified into a high confidence type and a low confidence type according to the difficulty level of changing the road of different types of vehicles under the congested road condition. And (3) preparing a confidence degree lookup table according to the relation between the lane change confidence degree, the number of lane change vehicles and the lane change vehicle types, outputting the confidence degree lookup table according to the number of lane change vehicles and the lane change vehicle types, and outputting the lane change confidence degree.

FIG. 4 shows an example of a confidence lookup table in which a low confidence type is represented by "1", a high confidence type is represented by "2", two lane-changing vehicles are detected by "11", and both lane-changing vehicles are low confidence types, three lane-changing vehicles are detected by "112", and in which two lane-changing vehicles are low confidence types, one is a high confidence type, and so on.

According to the method and the device for determining the lane change confidence coefficient, the vehicle types are divided into the high confidence coefficient type and the low confidence coefficient type, the confidence coefficient lookup tables are output by the number of the lane change vehicles and the lane change vehicle types when the lane change confidence coefficient is determined through the preset confidence coefficient lookup tables, the corresponding lane change confidence coefficient can be determined through table lookup, and the lane change confidence coefficient can be rapidly determined.

In one embodiment, the collecting the vehicle lane change information in the decision reference distance in front of the initial position specifically includes:

Specifically, the method for acquiring the lane change information of the vehicle in the decision reference distance in front of the initial position comprises a first vehicle information acquisition step, a second vehicle information acquisition step and a third vehicle information acquisition step, which are respectively used for acquiring the lane change information of the first vehicle, the lane change information of the second vehicle and the lane change information of the third vehicle. The first vehicle is positioned in front of the second vehicle, and the third vehicle is later than the first vehicle and the second vehicle to execute lane changing.

According to the method and the device for collecting the lane change information of the vehicle, the lane change information of the vehicle is collected in the first vehicle information collecting step, the second vehicle information collecting step and the third vehicle information collecting step respectively, and the operation efficiency is improved in a sub-flow calling mode. And after the two-vehicle information acquisition step, the lane change confidence coefficient at the moment is determined according to the first vehicle lane change information and the second vehicle lane change information, if the lane change confidence coefficient is greater than or equal to a confidence coefficient threshold value, a lane change execution instruction is sent out, the three-vehicle information acquisition step is not executed, otherwise, the three-vehicle information acquisition step is executed to acquire the third vehicle lane change information, the judging flow of the lane change execution instruction is simplified, the data calculation is reduced, and the judging efficiency is improved.

In one embodiment, the step of collecting the information of the head car specifically includes:

Specifically, road conditions in front of a vehicle are monitored through camera circulation, for example, images in front of the vehicle are collected according to a set period, analysis and identification are carried out on the images, when the fact that a vehicle body part of the vehicle in front of a lane of the vehicle exceeds a lane line is detected, the vehicle is determined to be a head vehicle, the height of the head vehicle is determined through image identification, the lane change vehicle type of the head vehicle is judged according to the height of the head vehicle, when the height of the head vehicle is larger than the preset height, the lane change vehicle type is determined to be a high-confidence type, and otherwise, the lane change vehicle type is determined to be a low-confidence type.

And then judging the position of the lane change point of the first vehicle, wherein the position of the lane change point of the first vehicle is the position of a set point (such as a rearview mirror, a B column and the like) on the vehicle on the lane line when the vehicle passes over the lane line:

As shown in fig. 5, the decision reference distance is exemplified by 20m (the decision reference distance in fig. 6-21 is set to 20 m), if the distance D10 between the lane change point of the head car and the initial position is greater than the decision reference distance, the head car data is considered invalid at this time, and all the data including the position of the lane change point of the head car, the type of the lane change vehicle of the head car and the distance D10 between the lane change point of the head car and the initial position are cleared.

As shown in fig. 6, if the distance D10 between the lane change point of the head car and the initial position is smaller than or equal to the decision reference distance, the head car data is considered valid, the head car is continuously monitored, if the head car and the tail car are monitored to cross the lane line, the head car is considered to finish lane change, and at this time, the first vehicle lane change information is stored, including the position of the lane change point of the head car, the type of the lane change vehicle of the head car and the distance D10 between the lane change point of the head car and the initial position. And if the head vehicle and the tail do not cross the lane line, the head vehicle returns to the lane of the host vehicle, and all data are cleared.

According to the method and the device for acquiring the head car information, the head car information from the lane of the own car to the adjacent lane is acquired and stored by image acquisition and identification of the car in front of the car, and under the conditions that the head car exceeds a decision reference distance and the head car does not finish lane change, the head car is cleared of data and returns to the road condition judgment step, so that the head car information from the lane of the own car to the adjacent lane, namely the first car lane change information, can be ensured to be acquired.

In one embodiment, the two-vehicle information acquisition step specifically includes:

Clearing all data;

Specifically, after the step of collecting the head car information, if the current position of the head car passes over the head car lane change point when two vehicles in front lane change are collected, the head car data are considered to be invalid at the moment, and all the data are cleared.

Judging whether the current position of the vehicle passes over the lane change point of the first vehicle or not, judging whether the distance D1 (see fig. 7-10) between the current position of the vehicle and the lane change point of the first vehicle is larger than 0 or not, if the distance D1 between the current position of the vehicle and the lane change point of the first vehicle is smaller than or equal to 0, detecting that the vehicle passes over the lane lines of the lane and the adjacent lanes, and determining the type of the vehicle according to the height of the vehicle head of the vehicle. Judging whether the two vehicles change lanes from the lane of the vehicle to the adjacent lane or from the adjacent lane to the lane of the vehicle through image recognition, monitoring that the tail of the two vehicles passes through the lane line to finish changing lanes, and returning to the two-vehicle information acquisition step if the tail of the two vehicles does not pass through the lane line; if the two vehicles change lanes from the lane of the vehicle to the adjacent lane and the tail of the two vehicles passes over the lane line, judging the lane change information of the two vehicles:

As shown in fig. 7, the two-vehicle lane change point is located behind the first vehicle lane change point, and then the two-vehicle lane change point is necessarily located within the decision reference distance of the initial position, where the second vehicle lane change information is stored, including the position of the two-vehicle lane change point, the two-vehicle lane change vehicle type, and other data. Specifically, the distance D20 between the two lane changing points and the initial position can be determined by judging whether the distance D20 between the two lane changing points and the initial position is smaller than the distance D10 between the two lane changing points and the initial position, or whether the distance D2 between the two lane changing points and the current position of the vehicle is smaller than the distance D1 between the two lane changing points and the current position of the vehicle.

As shown in fig. 8, the two-vehicle lane change point is in front of the first vehicle lane change point, and the distance D2 between the two-vehicle lane change point and the current position of the vehicle is greater than the decision reference distance, the two-vehicle is considered to be necessarily out of the decision reference distance of the initial position, and it can be determined that no temporary obstacle exists in the decision reference distance in front of the current position of the vehicle, so that the vehicle can run safely, and at this time, all data including the two-vehicle lane change point related data and the first vehicle lane change information can be cleared.

As shown in fig. 9, the two-vehicle lane change point is in front of the first-vehicle lane change point, the distance D2 between the two-vehicle lane change point and the current position of the host vehicle is smaller than or equal to the decision reference distance, and the distance D20 between the two-vehicle lane change point and the initial position is larger than the decision reference distance, so that it can be confirmed that the two-vehicle lane change point and the first-vehicle lane change point are both within the decision reference distance in front of the current position of the host vehicle, after the second-vehicle lane change information is stored, the current position of the host vehicle is used as the initial reference position, and because the two-vehicle lane change point is in front of the host vehicle, the first-vehicle lane change information and the second-vehicle lane change information are exchanged, i.e. the host vehicle and the two-vehicle are exchanged, so that the host vehicle is kept in front of the two-vehicle for facilitating the judgment of the following three-vehicle.

As shown in fig. 10, the two-vehicle lane change point is in front of the first vehicle lane change point, the distance D2 between the two-vehicle lane change point and the current position of the host vehicle is smaller than or equal to the decision reference distance, and the distance D20 between the two-vehicle lane change point and the initial position is smaller than or equal to the decision reference distance, so that the two-vehicle lane change point and the first vehicle lane change point are considered to be within the decision reference distance in front of the initial position, after the second vehicle lane change information is stored, the first vehicle lane change information and the second vehicle lane change information are exchanged, i.e. the first vehicle and the two vehicles are exchanged, so that the first vehicle is kept in front of the two vehicles.

According to the method and the device for classifying the lane change conditions of the two vehicles, the lane change conditions of the two vehicles are classified from the lane change condition of the own vehicle to the condition of the adjacent lane, corresponding data are stored respectively, and therefore first vehicle lane change information and second vehicle lane change information are determined.

Specifically, after the type of the two-vehicle is determined, if the two-vehicle changes lanes from the adjacent lane to the own vehicle lane and the tail of the two-vehicle passes over the lane line, judging the lane change information of the two-vehicle:

as shown in fig. 11, if the distance D20 between the two lane change points and the initial position is smaller than or equal to the decision reference distance, the first vehicle type and the two vehicle type are determined, and the vehicle changes lanes from the adjacent lane to the own vehicle lane, which indicates that the probability of temporary faults in front of the own vehicle lane is reduced to a certain extent. If the type of the first vehicle is the high-confidence type, the type of the second vehicle is the low-confidence type, and the lane change confidence of the high-confidence type is higher than the low-confidence type, so that the lane change confidence cannot be mutually offset, the type of the first vehicle is modified to be the low-confidence type, the lane change confidence of the first vehicle is reduced, and then the second vehicle information acquisition step is returned; for the case that the type of the first vehicle is the same as the type of the second vehicle, the lane change confidence coefficient of the first vehicle and the lane change confidence coefficient of the second vehicle can be offset, and for the case that the type of the first vehicle is a low confidence coefficient type and the type of the second vehicle is a high confidence coefficient type, the lane change confidence coefficient of the first vehicle can be completely offset by the lane change confidence coefficient of the second vehicle, so that all data are cleared.

As shown in fig. 12, if the distance D20 between the lane change point of the two vehicles and the initial position is greater than the risk reference distance (for example, the risk reference distance is set to 25 m), it is considered that the two vehicles may change lanes in front of the temporary obstacle of the lane of the vehicle, so that the lane change data of the two vehicles does not have the reference value, the lane change data of the two vehicles is deleted and the two vehicles information acquisition step is returned.

As shown in fig. 13, if the distance D20 between the two lane change points and the initial position is greater than the decision reference distance and less than the risk reference distance, it is considered that no temporary obstacle exists between the initial position and the two lane change points, and thus all data are cleared.

According to the method and the device for determining the lane change confidence of the two vehicles, the conditions of the two vehicles from adjacent lane change to the lane of the vehicle are classified, the type of the first vehicle is corrected according to the type of the first vehicle and the corresponding confidence of the two vehicles, and the accuracy of the subsequent lane change confidence judgment is ensured.

In one embodiment, the three-vehicle information acquisition step specifically includes:

the current position of the vehicle is behind the two lane change points

Storing third vehicle lane change information;

the current position of the vehicle is in front of two lane change points

Specifically, after the step of collecting the information of the two vehicles, if the three vehicles with the front lane change are collected, the current position of the vehicle passes over the lane change point of the first vehicle, and the data of the first vehicle and the two vehicles are considered to be invalid because the two vehicles are behind the first vehicle, and all the data are cleared.

Judging whether the current position of the vehicle passes over the lane change point of the first vehicle or not, judging whether the distance D1 (see fig. 14-18) between the current position of the vehicle and the lane change point of the first vehicle is larger than 0 or not, if the distance D1 between the current position of the vehicle and the lane change point of the first vehicle is smaller than or equal to 0, detecting that the vehicle passes over the lane lines of the lane and the adjacent lanes of the vehicle, and determining the type of the vehicle according to the height of the vehicle head of the vehicle. Judging whether the three vehicles change lanes from the lane of the vehicle to the adjacent lane or from the adjacent lane to the lane of the vehicle through image recognition, monitoring whether the three vehicle tails cross the lane lines to finish changing lanes, and returning to the three vehicle information acquisition step if the three vehicle tails do not cross the lane lines; if the three vehicle tails change lanes from the lane of the vehicle to the adjacent lane and the three vehicle tails cross the lane lines, judging the lane changing information of the three vehicles:

As shown in fig. 14, the three-vehicle lane-changing point is located behind the first-vehicle lane-changing point, and then the three-vehicle lane-changing point is necessarily located within the decision reference distance of the initial position, where the third-vehicle lane-changing information is stored, including the position of the three-vehicle lane-changing point, the lane-changing vehicle type of the three-vehicle, and other data. Specifically, the three-vehicle lane-changing point is judged to be behind the head-vehicle lane-changing point, and can be determined by judging whether the distance D30 between the three-vehicle lane-changing point and the initial position is smaller than the distance D10 between the head-vehicle lane-changing point and the initial position, or whether the distance D3 between the three-vehicle lane-changing point and the current position of the host vehicle is smaller than the distance D1 between the head-vehicle lane-changing point and the current position of the host vehicle.

As shown in fig. 15, the three-vehicle lane-changing point is in front of the first-vehicle lane-changing point, and the distance D3 between the three-vehicle lane-changing point and the current position of the host vehicle is greater than the decision reference distance, then the three-vehicle is considered to be necessarily out of the decision reference distance of the initial position, and it can be determined that no temporary obstacle exists in the decision reference distance in front of the current position of the host vehicle, so that the host vehicle can safely run, and at this time, all data including data related to the three-vehicle lane-changing point, the first-vehicle lane-changing information and the second-vehicle lane-changing information can be cleared, and the road condition judgment step is returned.

As shown in fig. 16, the three-vehicle lane-changing point is in front of the first-vehicle lane-changing point, the distance D3 between the three-vehicle lane-changing point and the current position of the vehicle is smaller than or equal to the decision reference distance, and the distance D30 between the three-vehicle lane-changing point and the initial position is smaller than or equal to the decision reference distance, so that the first-vehicle lane-changing point, the two-vehicle lane-changing point and the three-vehicle lane-changing point are all within the decision reference distance in front of the initial position, and third-vehicle lane-changing information is stored, including data such as the position of the three-vehicle lane-changing point, the lane-changing vehicle type of the three-vehicle, and the like.

As shown in fig. 17, the three lane-changing points are located in front of the first lane-changing point, the distance D3 between the three lane-changing points and the current position of the host vehicle is smaller than or equal to the decision reference distance, meanwhile, the distance D30 between the three lane-changing points and the initial position is larger than the decision reference distance, and the current position of the host vehicle is located behind the two lane-changing points, it can be determined that the first lane-changing point, the two lane-changing points and the three lane-changing points are all located in the decision reference distance in front of the current position of the host vehicle at this time, and since three vehicles which change lanes from the host vehicle to the adjacent lane are acquired, lane-changing information of the second vehicle is directly stored, and the subsequent steps are executed. Whether the current position of the host vehicle is behind the two-vehicle lane change point or not is determined by determining whether the distance D2 between the current position of the host vehicle and the two-vehicle lane change point is larger than 0, and if the distance D2 between the current position of the host vehicle and the two-vehicle lane change point is larger than 0, the current position of the host vehicle is considered to be behind the two-vehicle lane change point.

As shown in fig. 18, the three-vehicle lane change point is in front of the first-vehicle lane change point, the distance D3 between the three-vehicle lane change point and the current position of the host vehicle is smaller than or equal to the decision reference distance, meanwhile, the distance D30 between the three-vehicle lane change point and the initial position is larger than the decision reference distance, and the current position of the host vehicle is in front of the two-vehicle lane change point, the host vehicle is considered to have passed over the two-vehicle lane change point at this time, and the current position of the host vehicle is regarded as the initial position because the three-vehicle lane change point is in the decision reference distance of the current position of the host vehicle, the second-vehicle lane change information is deleted after the third-vehicle lane change information is stored, and the first-vehicle lane change information is regarded as the first-vehicle lane change information because the three-vehicle lane change point is in front of the first-vehicle lane change point, the first-vehicle is regarded as the second-vehicle lane change information.

According to the method and the device for classifying the lane change conditions of the three vehicles, the conditions that the three vehicles change lanes from the lane of the vehicle to the adjacent lanes are classified, corresponding data are stored respectively, and therefore first vehicle lane change information, second vehicle lane change information and third vehicle lane change information are determined.

if the three vehicles change lanes from the adjacent lane to the own vehicle lane, and the tail of the three vehicles passes over the lane line; then

If the distance between the three-vehicle lane change point and the initial position is greater than the decision reference distance, and

Specifically, after the type of the three-vehicle is determined, if the three-vehicle changes lanes from the adjacent lane to the own vehicle lane and the tail of the three-vehicle passes over the lane line, judging the lane change information of the three-vehicle:

as shown in fig. 19, if the distance D30 between the lane-changing point of the three vehicles and the initial position is smaller than or equal to the decision reference distance, the first vehicle type, the second vehicle type and the third vehicle type are adjusted, so as to correct the lane-changing confidence, which includes the following four cases:

the first vehicle type and the second vehicle type are both low-confidence type, the third vehicle type is high-confidence type, and the lane changing confidence of the high-confidence type vehicles changing lanes from adjacent lanes to own lanes can be mutually offset with the lane changing confidence of the two low-confidence type vehicles changing lanes from own lanes to adjacent lanes, so that all data are cleared.

The first vehicle type and the second vehicle type are both low-confidence type, the third vehicle type is low-confidence type, the lane changing confidence of the low-confidence type vehicle changing lanes from the adjacent lane to the own vehicle lane at the moment can be mutually offset with the lane changing confidence of one of the low-confidence type vehicles changing lanes from the own vehicle lane to the adjacent lane, at the moment, only the first vehicle lane changing information of the first vehicle is effective, the second vehicle lane changing information is cleared, and the second vehicle information is returned to the second vehicle information acquisition step.

The first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, the third vehicle type is a high confidence coefficient type, the lane changing confidence coefficient of the high confidence coefficient type vehicle from the adjacent lane to the own vehicle lane can be mutually offset with the lane changing confidence coefficient of the high confidence coefficient type vehicle from the own vehicle lane to the adjacent lane, and after the first vehicle type is changed into the low confidence coefficient type, the second vehicle lane changing information is cleared, and the second vehicle information is returned to the second vehicle information acquisition step;

and fourthly, the first vehicle type and the second vehicle type comprise a low-confidence-degree type and a high-confidence-degree type, the three vehicle types are low-confidence-degree type, the lane-changing confidence degree of the low-confidence-degree type vehicle from the lane changing to the lane of the own vehicle can be mutually offset with the lane-changing confidence degree of the low-confidence-degree type vehicle from the lane changing to the lane of the own vehicle, and after the first vehicle type is changed into the high-confidence-degree type, the second vehicle lane-changing information is cleared, and the second vehicle information is returned to the second vehicle information acquisition step.

As shown in fig. 20, if the distance D30 between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and the distance D30 between the lane change point of the three vehicles and the initial position is greater than the risk reference distance (taking the risk reference distance as set to 25m as an example), it is considered that the three vehicles may change lanes in front of the temporary obstacle of the lane of the own vehicle, so that the lane change data of the three vehicles have no reference value, the lane change data of the three vehicles are deleted and the three-vehicle information acquisition step is returned.

As shown in fig. 21, if the distance D30 between the three-vehicle lane-changing point and the initial position is greater than the decision reference distance and the distance D30 between the three-vehicle lane-changing point and the initial position is less than or equal to the risk reference distance, it is considered that no temporary obstacle exists between the initial position and the three-vehicle lane-changing point, so that all data are cleared.

According to the method and the device for determining the lane change confidence of the three-vehicle lane change, the conditions of the three-vehicle lane change from adjacent lane change to the lane of the vehicle are classified, the type of the head-vehicle is corrected according to the type of the head-vehicle, the type of the two-vehicle and the lane change confidence corresponding to the type of the three-vehicle, and the accuracy of the subsequent lane change confidence determination is ensured.

Fig. 22 shows a main flow chart of a method for deciding a congestion road condition and changing a road according to a preferred embodiment of the present application, which specifically includes:

step S01: acquiring a current position and a current road condition;

step S02: if the current position is at a non-traffic intersection, the current road condition is a congestion road condition, and the congestion distance is smaller than or equal to the set congestion distance, executing the step S03, otherwise, waiting for the set time and returning to the step S01;

step S03: starting a congestion road condition lane change decision function;

step S04: responding to the starting of a road changing decision function of the congested road condition, and taking the current position as an initial position, executing a first vehicle information acquisition step, and acquiring first vehicle changing information of a first vehicle changing from a lane of the vehicle to other lanes;

Step S05: a step of acquiring two-vehicle information, namely acquiring second vehicle lane changing information of a second vehicle from a lane of the vehicle to other lanes;

step S06: according to the first vehicle lane change information and the second vehicle lane change information, table lookup is performed to determine lane change confidence;

step S07: if the lane change confidence coefficient is smaller than the confidence coefficient threshold value, executing the step S08, otherwise executing the step S09;

step S08: executing a three-vehicle information acquisition step, and acquiring third vehicle lane changing information of a third vehicle from a lane of the vehicle to other lanes; step S09 is then performed;

step S09: a lane change execution instruction is issued, and step S010 is executed after the lane change is completed,

step S010: and (3) clearing all data, judging whether to exit the congested road section, if so, ending the congested road condition lane change decision method, otherwise, returning to the step (S04).

Fig. 23 shows a flowchart of a step of collecting head car information in a method for deciding a congestion road condition and changing a road, which specifically includes:

step S101: if the vehicle body part of the head vehicle in front of the lane of the vehicle exceeds the lane line, determining the type of the head vehicle;

step S102: if the distance between the first lane changing point and the initial position is greater than the decision reference distance, executing a step S310 in the main flow, otherwise executing a step S103;

Step S103: if the head and the tail cross the lane line, executing the step S104, otherwise executing the step S310 in the main flow;

step S104: first vehicle lane change information is stored.

Fig. 24 shows a flowchart of two-vehicle information acquisition steps in the congestion road condition lane change decision method, specifically including:

step S201: detecting that the two vehicles pass through lane lines of a lane and an adjacent lane, if the current position of the vehicle does not pass through a lane changing point of a first vehicle, executing a step S202, otherwise, executing a step S010 in a main flow;

step S202: determining a vehicle type of the two vehicles;

step S203: judging the type of the two-vehicle lane change, if the two-vehicle lane change is from the own vehicle lane to the adjacent lane, executing the step S204, and if the two-vehicle lane change is from the adjacent lane to the own vehicle lane, executing the step S211;

step S204: if the tail of the two vehicles passes over the lane line, executing the step S205, otherwise returning to the step S201;

step S205: if the two lane change points are behind the first lane change point, executing step S206, otherwise executing step S207;

step S206: after storing the second vehicle lane change information, executing step S06 in the main flow;

step S207: if the distance between the two lane change points and the current position of the vehicle is greater than the decision reference distance, executing a step S010 in the main flow, otherwise executing a step S208;

Step S208: if the distance between the two lane change points and the initial position is greater than the decision reference distance, executing step S209, otherwise executing step S210;

step S209: after the second vehicle lane change information is stored, the current position of the vehicle is used as the initial position, and the first vehicle lane change information and the second vehicle lane change information are exchanged;

step S210: and after the second vehicle lane change information is stored, exchanging the first vehicle lane change information and the second vehicle lane change information.

Step S211: if the tail of the two vehicles passes over the lane line, executing the step S212, otherwise returning to the step S201;

step S212: if the distance between the two lane change points and the initial position is smaller than or equal to the decision reference distance, executing step S213, otherwise executing step S215;

step S213: if the first vehicle type is the high confidence type and the second vehicle type is the low confidence type, executing step S214, otherwise executing step S010 in the main flow;

step S214: after the first vehicle type is modified to be the low confidence type, returning to step S201;

step S215: if the distance between the two lane change points and the initial position is greater than the risk reference distance, returning to the step S201, otherwise, executing the step S010 in the main flow.

Fig. 25 shows a flowchart of a three-vehicle information acquisition step in the congestion road condition lane change decision method, specifically including:

step S301: detecting that three vehicles cross lane lines of a vehicle lane and an adjacent lane, if the current position of the vehicle does not cross a first vehicle lane change point, executing the step S302, otherwise executing the step S010 in the main flow;

step S302: determining the type of a three-vehicle;

step S303: judging the lane change type of the three vehicles, if the three vehicles change lanes from the lane of the vehicle to the adjacent lane, executing the step S304, and if the three vehicles change lanes from the adjacent lane to the lane of the vehicle, executing the step S311;

step S304: if the three vehicle tails cross the lane line, executing step S305, otherwise returning to step S301;

step S305: if the three lane-changing points are behind the first lane-changing point, executing the step S306, otherwise executing the step S307;

step S306: after storing the third vehicle lane change information, executing step S09 in the main flow;

step S307: if the distance between the three lane changing points and the current position of the vehicle is greater than the decision reference distance, executing a step S010 in the main flow, otherwise executing a step S308;

step S308: if the distance between the three lane changing points and the initial position is greater than the decision reference distance, executing step S306, otherwise executing step S309;

Step S309: if the current position of the vehicle is behind the two lane change points, executing the step S306, otherwise executing the step S310;

step S310: after the third vehicle lane change information is stored, the current position of the vehicle is taken as an initial position, the second vehicle lane change information is deleted, the first vehicle lane change information is taken as the second vehicle lane change information, and the third vehicle lane change information is taken as the first vehicle lane change information.

Step S311: if the three vehicle tails cross the lane line, executing step S312, otherwise returning to step S301;

step S312: if the distance between the lane change points of the three vehicles and the initial position is smaller than or equal to the decision reference distance, executing step S313, otherwise executing step S319;

step S313: if the first vehicle type and the second vehicle type are both low confidence type and the third vehicle type is high confidence type, executing step S010 in the main flow, otherwise executing step S314;

step S314: if the first vehicle type and the second vehicle type are both the low confidence type, the third vehicle type is the low confidence type, executing step S315, otherwise executing step S316;

step S315: clearing the second vehicle lane change information, and executing a step S05 in the main flow;

step S316: if the first vehicle type and the second vehicle type comprise a low confidence degree type and a high confidence degree type, the third vehicle type is the high confidence degree type, the step S317 is executed, otherwise the step S318 is executed;

Step S317: after the type of the first vehicle is modified to be a low confidence type, the second vehicle lane change information is cleared, and a step S05 in the main flow is executed;

step S318: after the type of the first vehicle is modified to be a high-confidence type, the second vehicle lane change information is cleared, and a step S05 in the main flow is executed;

step S319: if the distance between the lane change points of the three vehicles and the initial position is greater than the risk reference distance, returning to the step S301, otherwise, executing the step S010 in the main flow.

The technical scheme of the application also provides a storage medium which stores computer instructions, and when the computer executes the computer instructions, the storage medium is used for executing the congestion road condition lane change decision method in any embodiment.

Fig. 26 shows an electronic device of the present application, comprising:

at least one processor 261; the method comprises the steps of,

a memory 262 communicatively coupled to the at least one processor 261; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory 262 stores instructions executable by the at least one processor 261 to enable the at least one processor 261 to perform all the steps of the congested road condition lane change decision method in any of the method embodiments described above.

The electronic device is preferably an in-vehicle electronic control unit (Electronic Control Unit, ECU), further a micro control unit (Microcontroller Unit, MCU) in the in-vehicle electronic control unit.

One processor 262 is illustrated in fig. 26 as an example:

the electronic device may further include: an input device 263 and an output device 264.

The processor 261, memory 262, input device 263 and display device 264 may be connected by a bus or other means, such as by a bus connection.

The memory 262 is used as a non-volatile computer readable storage medium, and may be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions/modules corresponding to the congestion road condition lane change decision method in the embodiments of the present application, for example, the method flows shown in fig. 1, 22-25. The processor 261 executes various functional applications and data processing by running nonvolatile software programs, instructions and modules stored in the memory 262, i.e. implements the congestion road condition lane change decision method in the above embodiment.

Memory 262 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the congested road condition lane change decision method, etc. In addition, memory 262 may include high-speed random access memory, but 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 embodiments, memory 262 may optionally include memory remotely located relative to processor 261, which may be connected via a network to a device performing the congested road condition lane change decision method. 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 263 can receive input user clicks and generate signal inputs related to user settings and function control of the congested road condition lane change decision method. The display 264 may include a display device such as a display screen.

The one or more modules are stored in the memory 262 and when executed by the one or more processors 261, perform the congested road condition lane change decision method in any of the method embodiments described above.

What has been described above is merely illustrative of the principles and preferred embodiments of the present application. It should be noted that, for a person skilled in the art, embodiments which are obtained by appropriately combining the technical solutions respectively disclosed in the different embodiments are also included in the technical scope of the present invention, and that several other modifications are possible on the basis of the principles of the present application and should also be regarded as the protection scope of the present application.

Claims

1. The traffic jam road condition lane change decision method is characterized by comprising the following steps:

if the lane change confidence is greater than or equal to a confidence threshold, a lane change executing instruction is sent out;

the collecting the vehicle lane change information in the decision reference distance in front of the initial position specifically comprises the following steps:

Executing a three-vehicle information acquisition step, and acquiring third vehicle lane changing information of a third vehicle from a lane of the vehicle to other lanes;

the head car information acquisition step specifically comprises the following steps:

2. The method for determining a lane change confidence according to claim 1, wherein the determining a lane change confidence according to the number of lane change vehicles and the type of lane change vehicles, and if the lane change confidence is greater than or equal to a confidence threshold, issuing a lane change execution instruction specifically comprises:

Determining lane change confidence according to the lane change vehicle type;

3. The congested road condition lane-change decision method of claim 1, wherein said lane-change vehicle types include a high confidence type and a low confidence type.

4. The method for determining a change of a congested road condition according to claim 3, wherein said two-vehicle information acquisition step comprises:

Clearing all data;

the distance between the two lane change points and the initial position is larger than the decision reference distance

After the second vehicle lane change information is stored, the current position of the vehicle is used as the initial position, and the first vehicle lane change information and the second vehicle lane change information are exchanged;

5. The method for determining a change of a congested road condition according to claim 3, wherein said two-vehicle information acquisition step comprises:

6. The method for determining a change of a congested road condition according to claim 3, wherein said three-vehicle information collecting step comprises the steps of:

the current position of the vehicle is behind the two lane change points

Storing third vehicle lane change information;

the current position of the vehicle is in front of two lane change points

7. The method for determining a change of a congested road condition according to claim 3, wherein said three-vehicle information collecting step comprises:

8. The method for determining a change of a congested road condition according to claim 1, further comprising, before said function for determining a change of a congested road condition is turned on:

Acquiring a current position and a current road condition;

if the current position is at the non-traffic intersection, and

the current road condition is a congested road condition, and

And starting a congestion road condition lane change decision function.

9. A storage medium storing computer instructions which, when executed by a computer, are adapted to carry out a method of congestion road condition lane change decision as claimed in any one of claims 1 to 8.

10. An electronic device comprising at least one processor; the method comprises the steps of,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the congested road condition lane change decision method of any one of claims 1-8.