CN113734172A

CN113734172A - Congestion scene help-seeking lane-changing assisting method and device, electronic equipment and storage medium

Info

Publication number: CN113734172A
Application number: CN202110971394.5A
Authority: CN
Inventors: 李欣静
Original assignee: Apollo Intelligent Technology Beijing Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2021-12-03

Abstract

The disclosure provides a help-seeking lane-changing assisting method and device for a congested scene, electronic equipment and a storage medium, and relates to the field of artificial intelligence, in particular to the field of automatic driving. The specific implementation scheme is as follows: responding to the condition that the target lane meets the congestion lane change, and turning on a steering lamp in the direction corresponding to the target lane; acquiring rear vehicle yield intention information and rear vehicle information; and controlling the vehicle body to enter the target lane in response to the condition that the offer intention information of the rear vehicle and the information of the rear vehicle meet the lane change condition. The method and the device can enable the vehicles to realize road changing and road network or road switching under the condition of traffic flow congestion, and improve the traffic efficiency.

Description

Congestion scene help-seeking lane-changing assisting method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of artificial intelligence, and more particularly to the field of automated driving techniques.

Background

The navigation assistant driving function is the deep fusion of a navigation system, a high-precision map and an automatic assistant driving system, and the navigation assistant driving function is realized on the basis of the functions of cruise speed control (driving according to speed limit, customer requirements and actual road conditions) realized by the navigation assistant driving function, vehicle distance keeping, steering assistance and steering lamp control lane changing, so that vehicles are realized in most of highways and urban elevated road sections in the coverage of the high-precision map according to the path of navigation planning: automatically merging into a main road; cruising and driving in a main road, and intelligently selecting an optimal lane; automatically switching to the next road according to the navigation plan; the automatic driving away from the main road, the automatic driving into the main road and the like can be realized. In the operation process of the navigation auxiliary function, the vehicle integrates information such as road speed limit, environment perception and the like, intelligently adjusts the speed of the vehicle, and autonomously avoids obstacles and the like.

Disclosure of Invention

The disclosure provides a help-seeking lane-changing assisting method and device for a congested scene, electronic equipment and a storage medium.

According to an aspect of the disclosure, a help-seeking lane-changing assisting method for a congested scene is provided, which includes:

responding to the condition that the target lane meets the congestion lane change, and turning on a steering lamp in the direction corresponding to the target lane;

acquiring rear vehicle yield intention information and rear vehicle information;

and controlling the vehicle body to enter the target lane in response to the condition that the offer intention information of the rear vehicle and the information of the rear vehicle meet the lane change condition.

According to another aspect of the present disclosure, there is provided an apparatus for help-seeking lane-change assistance in a congested scene, including:

the starting module is used for responding to the situation that the target lane meets the congestion lane change condition and starting a steering lamp in the direction corresponding to the target lane;

the acquisition module is used for acquiring the rear vehicle yield intention information and the rear vehicle information;

and the lane changing control module is used for responding to the situation that the offer intention information of the rear vehicle and the information of the rear vehicle meet the lane changing condition and controlling the vehicle body to enter the target lane.

According to another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the above-described method.

According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method described above.

According to another aspect of the present disclosure, an automatic driving automobile is provided, which includes the above electronic device, and a turn signal lamp, an automatic driving sign lamp and a text lamp located behind the automobile, and a lane-changing light board located behind the automobile body.

The utility model provides a more practical scene of blocking up seeks help lane change auxiliary function.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic diagram of a congestion scene help-seeking lane-changing assisting method according to a first embodiment of the disclosure;

FIG. 2 is a schematic diagram illustrating a state of determining that a lane change is required according to a first embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a waiting lane change opportunity moving to a target lane according to a first embodiment of the present disclosure;

FIG. 4 is a schematic diagram of the following vehicle waiting for the next lane change opportunity according to the first embodiment of the present disclosure;

fig. 5 is a diagrammatic illustration of a borrowed merge target lane according to a first embodiment of the disclosure;

FIG. 6 is a schematic illustration after entering a target lane in accordance with a first embodiment of the present disclosure;

fig. 7 is a block diagram of an electronic device for implementing the congestion scene help-seeking lane-change assisting method according to the embodiment of the disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The disclosure describes a help-seeking lane-change assist function in a congested scene that can be enabled in either a manned driving or piloted assist function on state.

The current driving assistance function has a severe limitation on lane changing conditions, and lane changing can be performed only when the lane changing space of the side lane is sufficient and the current vehicle reaches a certain speed. The restriction causes that vehicles cannot realize changing roads and switching road networks or roads under the condition that traffic flows are very congested when urban roads are driven, at the entrance of a road diversion and convergence outlet, or when a left-turn and right-turn lane is about to pass through an intersection in front, so that the optimal road changing time is missed, unnecessary travel is increased, and the passing efficiency is reduced. Meanwhile, when the user drives the vehicle by himself, the same problem occurs when the vehicle cannot make a necessary lane change due to road congestion.

Referring to fig. 1, a schematic diagram of a congestion scene help-seeking lane-changing assisting method according to a first embodiment of the disclosure is shown. The method for assisting in seeking help and changing lanes in the congested scene in the first embodiment of the disclosure comprises the following steps:

step 101, in response to the situation that a target lane meets a congestion lane change condition, turning on a steering lamp in a direction corresponding to the target lane;

in the embodiment of the present disclosure, after the help-seeking lane-changing function is turned on, the vehicle will perform a lane-changing action according to the navigation path plan under the condition that the side lane is crowded. In the lane changing process, the turn light is turned on, and the vehicle is tried to be gradually moved to a target lane,

wherein in response to the target lane satisfying the congestion lane-change condition, comprising: the vehicle needs to change lanes according to the navigation instruction, and the method comprises at least one of the following situations:

when the vehicle is about to leave the main road and converge into the auxiliary road;

when the vehicle is about to drive into the main road;

when the lane-changing condition is not met in the front, the broken line turns to the solid line, but the vehicle can turn left, right, turn around and go straight only by changing lanes;

the front part has the conditions of road maintenance, traffic accidents and the like, and when the vehicle needs to change lanes;

in the above situations, the help-seeking lane-changing function can be started when the vehicle needs to enter the target lane in a 'jammed' manner due to the congestion of the target lane to be merged.

102, acquiring rear vehicle yield intention information and rear vehicle information;

the obtaining of the rear vehicle driving-giving wish information includes: obtain the back car information of accelerating, the technological realization includes: the rear vehicle is observed through a side camera, a small radar or a vehicle rear camera, and comprises a rear vehicle position, a speed, a type, an orientation, a time interval and the like.

The acquiring of the rear vehicle information comprises acquiring rear vehicle information position information and distance information between the vehicle and the vehicle.

And 103, controlling the vehicle body to enter a target lane in response to the condition that the rear vehicle yield intention information and the rear vehicle information meet the lane change condition.

And (4) judging the intention of the rear vehicle according to a set rule in the system, and if the acceleration information of the rear vehicle is greater than a set acceleration threshold, judging that the intention information of the rear vehicle is not to give way. At the moment, the vehicle stops changing lanes, and continues to wait for the next lane changing opportunity after the vehicle passes. And if the rear vehicle acceleration information is smaller than the set acceleration threshold, the rear vehicle yield intention information is the yield intention.

In this embodiment, the meeting the lane change condition in step 103 includes:

and if the rear vehicle acceleration information is smaller than the set acceleration threshold and the distance between the rear vehicle and the vehicle is larger than the set collision distance threshold, judging that the lane change condition is met, and controlling the vehicle body to enter the target lane.

The distance between the rear vehicle and the vehicle can be judged to be larger than a set collision distance threshold value through a conventional empirical planning control rule or a deep learning mode through model adjustment parameters. For example, one possible determination is: when the vehicle is between the vehicle number 1 and the vehicle number 2, if the vehicle already drives into the target lane 1/4, the vehicle can be overtaken by the following vehicle before the following vehicle detours, and the vehicle can be borrowed and merged into the target lane in the process of exploration.

In further embodiments of the present disclosure, the method further comprises:

and displaying an automatic driving marker lamp and a character lamp positioned behind the vehicle.

The help-seeking instruction and the thank you are indicated to the rear vehicle through the lamp language, the automatic driving marker lamp and the characters. User interaction is increased, and user experience is enhanced.

In further embodiments of the present disclosure, the method further comprises:

and displaying a lane-changing lamp board positioned at the rear of the vehicle body. In the lane changing process, the automatic driving marker lamp and the character lamp plate at the tail part of the vehicle are lightened, and the characters prompt the following vehicle to create a lane changing opportunity in 'seeking help and changing lanes'. Therefore, by adding the interactive function, the lane change success rate is increased, and the user experience is enhanced. The lane change is carried out in a more civilized and friendly way through the light interaction outside the vehicle, and the normal traffic driving is not influenced. And an efficient driving assisting function is provided for novice users.

In further embodiments of the present disclosure, the method further comprises:

and in response to not merging the target lane before the lane-unchangeable point, replanning the driving path and prompting the user.

If the vehicle is not merged into the target lane in time before the lane-unchangeable point (for example, when the system judges that the action cannot be guaranteed to be merged into the target lane or is about to reach the position of the solid line), the route replanning function is started, the navigation replans the driving route, and the user is prompted. Therefore, when lane changing is not realized, the route re-planning function can be started, and the lane changing operation is abandoned.

It can be seen that through the above-mentioned embodiment, the present disclosure improves passage efficiency.

In the embodiment of the disclosure, the information of the vehicle behind the target lane is acquired, and when the intention of the vehicle behind is judged to be not wanting to give way according to the information of the vehicle behind, the vehicle waits for the next lane change opportunity.

Table 1 below is a pilot-assisted driving sensor configuration table according to an embodiment of the present disclosure, and it should be noted that the sensor configuration table provided herein is general, and various settings may be performed according to actual application needs, for example, a laser radar may be added.

TABLE 1

The technical solutions in the embodiments of the present disclosure will be described in detail below. Fig. 2 is a schematic diagram illustrating a state of determining that lane change is required according to the first embodiment of the present disclosure.

When a user activates a navigation auxiliary function or in a manual driving mode, the system judges that the lane needs to be changed to one side lane in front according to the navigation indication direction, calculates the latest lane changing time according to the speed of the vehicle, the speed of the vehicle in the side lane and the time interval, and starts to change the lane. The term "time interval" refers to how many seconds the preceding vehicle is stationary and the following vehicle encounters the preceding vehicle, i.e., the ratio of the relative speed to the distance. And calculating the latest lane change time according to the parameters, comprising the following steps: before the road information is obtained through a camera or a high-definition map and is changed into a solid line point by a broken line, or the condition that the road is a main road or a subsidiary road is judged, or the latest lane change time is calculated through the speed and the distance of the vehicle. And under the condition that the navigation auxiliary function is activated, the system judges that the help-seeking lane-changing function needs to be started according to the scene, and then the user is prompted on the vehicle machine. In the manual driving vehicle mode, when the system judges that the vehicle needs to change lanes according to scenes, the system prompts a user whether to start a help-seeking lane-changing function. If the user clicks to open, the system takes over the vehicle and controls the vehicle transversely and longitudinally.

The system judges the congestion of the target lane according to the sensing systems of the front and the side (the front sensor comprises a camera, a millimeter wave radar, a laser radar and an ultrasonic radar, and the side sensor comprises a camera, an angle radar and an ultrasonic radar): the speed of the vehicle is below 20km/h, and no space larger than 1 vehicle body (5m) can be directly merged between the vehicle and two barrier vehicles in front of and behind the adjacent lane of the vehicle. In order to prevent the intentional jamming, the background system needs to judge that the starting operation is only performed when necessary or when the help-seeking lane-changing function is manually started. According to the automatic driving system disclosed by the embodiment of the disclosure, whether a help-seeking lane-changing function needs to be started or not is judged according to background navigation and a high-definition map, and a normal road is not started. The manner of determining congestion includes the vehicle speed 30 or less and whether the side road space is sufficient, but may be determined according to the time interval. If the vehicle is congested, the vehicle starts the help-seeking line-changing assisting function.

Referring to fig. 3, a diagram of waiting for lane change opportunity moving to a target lane according to a first embodiment of the present disclosure is shown. The vehicle starts a steering lamp in the target direction, moves to the target lane and waits for a lane change opportunity. The vehicle tries to move to a target lane line at least with the edge of the vehicle body pressed to one side according to the movable space of the target lane, and simultaneously lights an automatic driving marker lamp and a character lamp board at the tail of the vehicle, and the vehicle gives a text prompt to create a lane change opportunity of 'seeking help to change lanes' of the rear vehicle.

Fig. 4 is a schematic diagram of waiting for the next lane change opportunity when the following vehicle is judged not to give way according to the first embodiment of the present disclosure.

When the vehicle starts to move to a target lane, a vehicle behind the target lane accelerates, and specifically, the technical implementation of judging the acceleration of the vehicle behind the target lane comprises the following steps: the rear vehicle is observed through the side camera, the small radar or the rear camera, the position, the speed, the type, the orientation and the time interval of the rear vehicle are included, the intention of the rear vehicle is judged according to the set rules in the system, and if the vehicle is the vehicle No. 1 in the figure, the intention of the rear vehicle can be judged to be not to give way. At the moment, the vehicle drives through the line pressing, tries to continue merging into the lane, and continues waiting for the next lane change opportunity after the No. 1 vehicle passes through.

Fig. 5 is a schematic illustration of a lane borrowing and merging into a target lane according to a first embodiment of the present disclosure.

When the information of the vehicle behind and beside the target lane is obtained, if the vehicle enters the target lane after judging that enough space or enough collision distance exists, the specific judgment can adopt a conventional empirical programming control rule or a deep learning mode to judge that enough distance exists through model adjustment parameters. For example, one possible determination is: when the vehicle is between the vehicle number 1 and the vehicle number 2, if the vehicle already drives into the target lane 1/4, the vehicle can be overtaken by the following vehicle before the following vehicle detours, and the vehicle can be borrowed and merged into the target lane in the process of exploration.

After the vehicle enters a target lane, the posture of the vehicle body is adjusted, the steering lamp is turned off, and the state jumps to the functions of cruising and following. And twinkling the light to indicate thank you for the rear car.

During the period, if the vehicle is not merged into the target lane in time before the lane-unchangeable point (for example, when the system judges that the action cannot be guaranteed to be merged into the target lane or is about to reach the position of the solid line), the route replanning function is started, the navigation replans the driving route, and the user is prompted.

The specific embodiment of the disclosure starts the lane change auxiliary function for the requirements of the optimal route and the commuting efficiency under the condition of no lane change, and improves the success rate of lane change under the scene. And the lane change is carried out in a more civilized and friendly way through the light interaction outside the vehicle, and the normal traffic driving is not influenced. And an efficient driving assisting function is provided for novice users. Meanwhile, the problem that the optimal lane change opportunity is missed due to the fact that the target road cannot be merged under the navigation auxiliary function due to the congestion condition of the target road is solved, and the overall efficiency of the navigation auxiliary function is improved.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.

According to an embodiment of the present disclosure, the present disclosure further provides an apparatus for help-seeking lane-change assistance in a congested scene, the apparatus including:

In an embodiment of the present disclosure, the lane change control module satisfies a lane change condition in response to the rear vehicle yield intention information and the rear vehicle information, including:

the rear vehicle acceleration information is smaller than a set acceleration threshold, and the distance between the rear vehicle and the vehicle is larger than a set collision distance threshold.

In an embodiment of the present disclosure, the apparatus further includes:

and the first display module is used for displaying the automatic driving marker lamp and the character lamp which are positioned behind the vehicle.

In an embodiment of the present disclosure, the apparatus further includes:

and the second display module is used for displaying a lane-changing lamp board positioned behind the vehicle body.

In an embodiment of the present disclosure, the apparatus further includes:

and the path planning module is used for replanning the driving path and prompting the user in response to the situation that the target lane is not merged in the lane-unchangeable point.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

According to an embodiment of the present disclosure, the present disclosure further provides an automatic driving automobile, which includes the above electronic device, a turn signal lamp, an automatic driving marker lamp and a text lamp located behind the automobile, and a lane-changing light board located behind the automobile body.

Fig. 7 illustrates a schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 7, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 801 executes the respective methods and processes described above, such as the congestion scene recourse lane change assistance method. For example, in some embodiments, the congestion scene recourse lane change assistance method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and/or installed onto device 800 via ROM 802 and/or communications unit 809. When loaded into RAM 803 and executed by computing unit 801, a computer program may perform one or more of the steps of the congestion scene recourse lane change assistance method described above. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the congestion scene recourse lane change assistance method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A help-seeking lane-changing assisting method for a congested scene comprises the following steps:

2. The method of claim 1, wherein the obtaining of the rear vehicle concessional intention information and the rear vehicle information comprises: acquiring the acceleration information of a rear vehicle and the distance information between the rear vehicle and the vehicle;

the meeting of lane change conditions comprises the following steps:

3. The method of claim 1, further comprising:

4. The method of claim 1, further comprising:

and displaying a lane-changing lamp board positioned at the rear of the vehicle body.

5. The method of claim 1, further comprising:

6. An apparatus for help-seeking lane-change assistance in congested scenes, comprising:

7. The apparatus of claim 6, the lane-change control module responsive to the rear vehicle yield intent information and the rear vehicle information satisfying a lane-change condition, comprising:

8. The apparatus of claim 6, further comprising:

9. The apparatus of claim 6, further comprising:

10. The apparatus of claim 6, further comprising:

11. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.

12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.

13. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-5.

14. An autonomous vehicle comprising the electronic device as claimed in claim 11, and a turn signal lamp, an autonomous marker lamp and a letter lamp located behind the vehicle, a lane-changing light sign located behind the vehicle body.