CN113899378A - Lane changing processing method and device, storage medium and electronic equipment - Google Patents

Lane changing processing method and device, storage medium and electronic equipment Download PDF

Info

Publication number
CN113899378A
CN113899378A CN202111149197.1A CN202111149197A CN113899378A CN 113899378 A CN113899378 A CN 113899378A CN 202111149197 A CN202111149197 A CN 202111149197A CN 113899378 A CN113899378 A CN 113899378A
Authority
CN
China
Prior art keywords
lane
vehicle
current
information
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111149197.1A
Other languages
Chinese (zh)
Inventor
刘洋
王祎男
王洪雨
陈志新
尚秉旭
王洪峰
黄海洋
张勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FAW Group Corp
Original Assignee
FAW Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FAW Group Corp filed Critical FAW Group Corp
Priority to CN202111149197.1A priority Critical patent/CN113899378A/en
Publication of CN113899378A publication Critical patent/CN113899378A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention discloses a lane change processing method and device, a storage medium and electronic equipment. The method comprises the following steps: acquiring vehicle state information, a terminal position and road information, wherein the vehicle state information comprises a current vehicle position; determining whether a target lane is included in a current navigation path based on the current vehicle position, the end point position, and the road information; and if so, determining the transverse and longitudinal processing information of lane changing of the vehicle. In the technical scheme, the lane condition is fully considered by judging whether the current navigation path contains the target lane, so that the obtained processing information is more reliable, and in addition, the transverse and longitudinal processing information is a transverse and longitudinal matching decision result and is more in line with the driving habits of human drivers.

Description

Lane changing processing method and device, storage medium and electronic equipment
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a lane change processing method and device, a storage medium and electronic equipment.
Background
In the automatic driving, in order to pursue a faster vehicle speed or a safe driving space, or to be restricted by an arrival point and a traffic environment, it is necessary to autonomously perform a lane change during the driving.
At present, the automatic driving lane change decision method generally has the following two types: the first type is a decision-making method based on machine learning (or deep learning), and the second type is a lane-changing decision-making method based on rules, which describes the driving behaviors of human drivers and the generation conditions of lane-changing motivations as corresponding mathematical languages and establishes rule condition sets corresponding to the mathematical languages.
However, in the process of implementing the present invention, the inventors found that at least the following technical problems exist in the prior art: the prior art scheme only considers the state information of the own vehicle and the week vehicle, has the defect of incomplete consideration of lane change basis, and has difference with the normal driving habit of human beings.
Disclosure of Invention
The embodiment of the invention provides a lane change processing method, a lane change processing device, a storage medium and electronic equipment, which are used for fully considering lane change bases and enabling lane change processing to be more in line with driving habits of human beings.
In a first aspect, an embodiment of the present invention provides a lane change processing method, including:
acquiring vehicle state information, a terminal position and road information, wherein the vehicle state information comprises a current vehicle position;
determining whether a target lane is included in a current navigation path based on the current vehicle position, the end point position, and the road information;
and if so, determining the transverse and longitudinal processing information of lane changing of the vehicle.
In a second aspect, an embodiment of the present invention further provides a lane change processing apparatus, including:
the system comprises an information acquisition module, a display module and a control module, wherein the information acquisition module is used for acquiring vehicle state information, a terminal position and road information, and the vehicle state information comprises a current vehicle position;
a target lane determination module for determining whether a target lane is included in a current navigation path based on the current vehicle position, the end point position, and the road information;
and the transverse and longitudinal processing module is used for determining transverse and longitudinal processing information of lane change of the vehicle if the transverse and longitudinal processing information is positive.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the lane change processing method according to any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform the lane change processing method described in any of the embodiments of the present invention.
According to the invention, vehicle state information, a terminal position and road information are obtained, wherein the vehicle state information comprises the current vehicle position; determining whether a target lane is included in the current navigation path based on the current vehicle position, the end point position and the road information; and if so, determining the transverse and longitudinal processing information of lane changing of the vehicle. In the technical scheme, the lane condition is fully considered by judging whether the current navigation path contains the target lane, so that the obtained processing information is more reliable, and in addition, the transverse and longitudinal processing information is a transverse and longitudinal matching decision result and is more in line with the driving habits of human drivers.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a schematic flow chart of a lane change processing method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an active lane change decision system according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a lane change processing method according to a second embodiment of the present invention;
fig. 4 is a schematic flowchart of a lane change processing method according to a third embodiment of the present invention;
fig. 5 is a schematic flow chart of collision detection according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a lane change processing apparatus according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a lane change processing method according to an embodiment of the present invention, where the present embodiment is applicable to a situation where a vehicle automatically changes lanes during automatic driving, and the method may be executed by a lane change processing apparatus according to an embodiment of the present invention, where the apparatus may be implemented by software and/or hardware, and the apparatus may be configured on an electronic computing device, for example, a vehicle-mounted terminal.
In order to more clearly illustrate the technical solution of the embodiment of the present invention, an active lane change decision system applied to the lane change method is first described, and the contents are as follows:
as shown in fig. 2, an active lane change decision system for an autonomous automobile is provided, which includes a forward millimeter wave radar, an angular millimeter wave radar, a forward camera, a laser radar, a high-precision map, a positioning module, a sensing data fusion unit, and a lane change decision module. The forward millimeter wave radar, the angle millimeter wave radar, the forward camera, the laser radar and the sensing data fusion module are in communication connection; the sensing data fusion module, the high-precision map and the positioning module are in communication connection with the lane-changing decision-making module. And the lane change decision module is used for giving lane change transverse decision information and lane change longitudinal decision information at the same time in a scene needing lane change based on a lane change strategy.
The lane change transverse processing information comprises but is not limited to keeping the current lane, changing the lane, returning to the original lane and failing to make a decision; lane change longitudinal processing information includes, but is not limited to, maintain (restore) cruise speed, maintain lane change vehicle speed, slow down, speed up, stop waiting, and decision failure; the lane change state of the vehicle according to which the lane change processing information is proposed includes, but is not limited to, an in-lane change process, a lane change completion, a lane change suspension, and an unknown state.
The method specifically comprises the following steps:
s110, obtaining vehicle state information, a terminal position and road information, wherein the vehicle state information comprises a current vehicle position.
The vehicle state information refers to the driving state information of the vehicle, and may be the driving state information of the current vehicle or the driving state information of the surrounding obstacle vehicles, which is not limited in this embodiment. The vehicle status information may include, but is not limited to, a current vehicle position, an obstacle vehicle position, a current vehicle speed, an obstacle vehicle size, and the like. The end position refers to an end point at which the current vehicle travels, and is a preset value. The road information comprises the geometric connection relation of roads and the type of a lane line, and can be acquired from a high-precision map.
Specifically, in some embodiments, the vehicle state information may be obtained in real time through a sensor, for example, a millimeter wave radar measures a speed of a current vehicle to obtain a current vehicle speed. In some embodiments, the road information may be acquired through a high-precision map.
In some optional embodiments, before obtaining the vehicle state information, the end position, and the map road information, the method further comprises: and updating the lane change state of the vehicle to be lane change completion. It will be appreciated that updating the vehicle lane change status to lane change complete is an initialization process, i.e. the vehicle lane change status defaults to lane change complete when the lane change method begins execution.
And S120, determining whether a target lane is contained in the current navigation path or not based on the current vehicle position, the end point position and the road information.
The current navigation path may be understood as a navigation path to which the vehicle is about to arrive. The target lane may be understood as a lane to which the vehicle finally arrives making a lane change.
For example, a current navigation path from a current vehicle position to an end position is acquired in a high-precision map, and the current navigation path conforms to traffic regulations. If the current navigation path is a scene needing lane changing, the current navigation path comprises a target lane; if the current navigation path is not a scene needing lane changing, the current navigation path does not contain a target lane, for example, the current vehicle is in a left lane of the lanes, and if the current navigation path is to turn right to enter other roads, lane changing is needed to enter a right lane.
In the embodiment of the invention, whether the current navigation path contains the target lane is taken as a judgment basis, and the lane condition is fully considered, so that the lane change processing is more reliable.
And S130, if so, determining the transverse and longitudinal processing information of lane change of the vehicle.
The information processed in the transverse direction and the longitudinal direction can include, but is not limited to, information processed in the transverse direction and information processed in the longitudinal direction, and it can be understood that the information processed in the transverse direction and the information processed in the longitudinal direction can be processed simultaneously, and the information processed in the transverse direction and the information processed in the longitudinal direction are matched to change lanes, so that the lane changing process is more in line with the driving habits of human drivers. Lateral processing information includes, but is not limited to, keeping the current lane, changing lanes, returning to the original lane, and decision failure; longitudinal processing information includes, but is not limited to, maintain (resume) cruise speed, maintain lane change speed, slow down, speed up, stop waiting, and decision failure.
In some optional embodiments, if the current navigation path does not include the target lane, it indicates that the current vehicle does not generate a lane change motive. Specifically, a current lane is determined according to the current vehicle position and the road information, the current lane and a target lane are compared, whether the lane changing state of the vehicle where the current vehicle is located is in the lane changing process or not is judged, if not, the lane changing behavior of the vehicle is indicated to be finished, the vehicle runs to the target lane from the current lane, the lane changing state of the vehicle is updated to be the lane changing completion, the transverse processing information is output to keep the current lane running, and the longitudinal processing information is to keep the cruising speed; if yes, judging the lane changing state of the vehicle where the current vehicle is located.
Further, whether the lane changing state of the vehicle where the current vehicle is located is lane changing completion or not is judged, if yes, the vehicle does not need to change lanes currently, the lane changing state of the vehicle is maintained unchanged, the transverse processing information is output to keep the current lane, the longitudinal processing information is keeping cruise speed, if not, the vehicle is in an unknown lane changing state, initialization failure or a lane changing stopping state is possible, a target lane does not exist at the moment, the lane changing state of the vehicle is updated to be lane changing completion, the transverse processing information is output to keep the current lane, and the longitudinal processing information is keeping cruise speed.
The embodiment of the invention provides a lane change processing method, which comprises the steps of obtaining vehicle state information, a terminal position and road information, wherein the vehicle state information comprises a current vehicle position; determining whether a target lane is included in a current navigation path based on the current vehicle position, the end point position, and the road information; and if so, determining the transverse and longitudinal processing information of lane changing of the vehicle. In the technical scheme, the lane condition is fully considered by judging whether the current navigation path contains the target lane, so that the obtained processing information is more reliable, and in addition, the transverse and longitudinal processing information is a transverse and longitudinal matching decision result and is more in line with the driving habits of human drivers.
Example two
Fig. 3 is a flow chart illustrating a lane change processing method according to a second embodiment of the present invention, and based on the second embodiment, the "information on processing in the transverse direction and the longitudinal direction for determining lane change of the vehicle" is further detailed. The specific implementation manner of the method can be seen in the detailed description of the technical scheme. The technical terms that are the same as or corresponding to the above embodiments are not repeated herein. As shown in fig. 3, the method of the embodiment of the present invention specifically includes the following steps:
s210, obtaining vehicle state information, a terminal position and road information, wherein the vehicle state information comprises a current vehicle position.
And S220, determining whether a target lane is contained in the current navigation path or not based on the current vehicle position, the end point position and the road information.
And S230, if so, determining a current lane based on the current vehicle position and the road information.
Specifically, whether the current navigation path includes the target lane or not is determined by sending the current vehicle position to the high-precision map, and determining the current lane corresponding to the current vehicle in the road information of the high-precision map.
S240, updating a vehicle lane change state based on the first lane mark of the current lane and the second lane mark of the target lane, and determining transverse and longitudinal processing information.
Lane markings are understood to be recognizable markings of a lane, which may be numbers or names, for example, lane markings may be IDs. Vehicle lane change conditions include, but are not limited to, in-lane change, lane change complete, lane change discontinued, and unknown conditions.
Specifically, in some optional embodiments, a first lane identification of the current lane is compared with a second lane identification of the target lane, the lane change state of the vehicle is updated according to the comparison result, and the transverse and longitudinal processing information is determined; in another embodiment, the first lane identification of the current lane and the second lane identification of the target lane are input into a preset lane change processing model, and the preset lane change processing model outputs a vehicle lane change state and transverse and longitudinal processing information, wherein the preset lane change processing model is a machine learning model which is trained in advance. The method for obtaining the lane change state and the transverse and longitudinal processing information of the vehicle is not limited in the invention.
The embodiment of the invention provides a lane change processing method, which is characterized in that a current lane is determined based on a current vehicle position and road information, a current vehicle lane change state is determined through a first lane mark of the current lane and a second lane mark of a target lane, the vehicle lane change state is updated according to the current vehicle lane change state, and transverse and longitudinal processing information is determined, so that the real-time updating of the vehicle lane change state and the transverse and longitudinal processing information is realized, and the real-time performance of the lane change processing information is ensured.
EXAMPLE III
Fig. 4 is a schematic flow chart of a lane change processing method provided in the third embodiment of the present invention, and the third embodiment of the present invention and various alternatives in the foregoing embodiments may be combined. In the embodiment of the present invention, optionally, before determining the information about the longitudinal and transverse processing of the vehicle, the method further includes: performing collision detection on the vehicle; correspondingly, the updating the vehicle lane change state based on the first lane mark of the current lane and the second lane mark of the target lane and determining the transverse and longitudinal processing information comprises: and updating the lane change state of the vehicle based on the collision detection result, the first lane mark of the current lane and the second lane mark of the target lane, and determining the transverse and longitudinal processing information.
As shown in fig. 4, the method of the embodiment of the present invention specifically includes the following steps:
s310, obtaining vehicle state information, a terminal position and road information, wherein the vehicle state information comprises a current vehicle position.
S320, determining whether a target lane is contained in the current navigation path or not based on the current vehicle position, the end point position and the road information.
And S330, if so, performing collision detection on the vehicle, and determining a current lane based on the current vehicle position and the road information.
The collision detection refers to the collision detection of the current vehicle and surrounding obstacles, and is used for predicting the collision behavior of the current vehicle in lane changing so as to ensure the safety of the lane changing process. The surrounding obstacles may include, but are not limited to, static obstacles, which may be guardrails, barricades, vehicles parked at the roadside, etc., and dynamic obstacles, which may be running vehicles, pedestrians, etc.
Specifically, fig. 5 is a schematic flow chart of collision detection according to an embodiment of the present invention, where a sensing data fusion module provides a result of obstacle fusion identified by peripheral sensor data, and performs obstacle screening to obtain a plurality of surrounding obstacles, and removes obstacles not in a current lane and a target lane and virtual obstacles. Entering a collision detection cycle, judging whether the obstacle list is traversed completely, judging according to the comparison of the number of the processed obstacles with the total number of the obstacles in the obstacle list, and if all the obstacles are processed, ending the process to indicate that the collision detection is passed in the period;
if the obstacle is not processed, updating obstacle state information, wherein the obstacle state information comprises but is not limited to information such as the position, the speed, the course, the length, the width and the height of the obstacle;
and further, judging whether the obstacle is a static obstacle or not, specifically judging whether the obstacle is a static obstacle zone or an obstacle speed according to a sensing fusion result, if the obstacle is the static obstacle, configuring a static obstacle lane changing decision parameter for the current vehicle, and if the obstacle is not the static obstacle, configuring a dynamic obstacle lane changing decision parameter for the current vehicle. In this embodiment, the reason why the consideration of the front and rear obstacles is different in the lane change processing is that the lane change process is safer by setting the dynamic and static decision parameters. Wherein, the lane change decision parameters comprise speed, course and the like.
Further, it is then determined whether the current vehicle collides with the obstacle. If the current vehicle collides with the obstacle, the collision detection is not passed, and the collision detection cycle is ended; if the current vehicle does not collide with the obstacle, the number of obstacle processings is updated through collision detection, and the number of obstacle processings may be a self-increasing parameter, for example, the number of obstacle processings increases by one every time an obstacle is determined to be processed. And then continuously judging whether the obstacle list is traversed or not until the collision detection of all the obstacles is processed.
On the basis of the above embodiment, the vehicle state information further includes a current vehicle speed and a target vehicle speed, and the performing collision detection on the vehicle includes: determining a safe distance between the current vehicle and the target vehicle based on the speed of the front vehicle, the speed of the target vehicle and a preset lane changing time; and if the safe distance is larger than a preset safe distance threshold value, the current vehicle passes through collision detection.
The preset lane changing time can be average lane changing time and can be set according to historical lane changing time.
Specifically, for the collision detection of the vehicle, it is necessary to consider whether the current vehicle and the obstacle vehicle (forward/backward direction) of the target lane are likely to collide, and the present embodiment adopts a collision time model for judgment, and the expression of the collision time model is set as follows:
Dsafe＝max{D,(v1-v2)*t}
wherein D issafeThe latest safety distance is represented, the preset safety distance threshold value is represented by D, the safety distance threshold value can be set according to experience and the cruising speed of the vehicle, and the preset lane changing time is represented by t and is also a set value. When the current vehicle and the front vehicle of the target lane are subjected to collision detection, D is a preset safe distance threshold value v of the front vehicle1Indicating the current vehicle speed, v2Representing the target vehicle speed, namely the vehicle speed in front of the target lane; when the current vehicle and the rear vehicle of the target lane are subjected to collision detection, D, taking the rear vehicle and presetting a safety distance threshold value v1Indicating vehicle speed, v, behind target lane2Indicating the current vehicle speed. If the distance between the current vehicle and the obstacle vehicle of the target lane is larger than a preset safe distance threshold value, the current vehicle passes through collision detection, and if the distance between the current vehicle and the obstacle vehicle of the target lane is smaller than or equal to the preset safe distance threshold value, the current vehicle does not pass through collision detection.
S340, updating a vehicle lane change state based on the collision detection result, the first lane mark of the current lane and the second lane mark of the target lane, and determining transverse and longitudinal processing information.
Specifically, in some alternative embodiments, different execution steps may be selected according to the collision detection result, and it is understood that the vehicle lane change state and the longitudinal and transverse processing information corresponding to different execution steps are different. Then comparing the first lane mark of the current lane with the second lane mark of the target lane, updating the lane changing state of the vehicle according to the comparison result, and determining transverse and longitudinal processing information; in another embodiment, the collision detection result, the first lane identification of the current lane and the second lane identification of the target lane are input into a preset lane change processing model, and the preset lane change processing model outputs a vehicle lane change state and transverse and longitudinal processing information, wherein the preset lane change processing model is a machine learning model which is trained in advance. The method for obtaining the lane change state and the transverse and longitudinal processing information of the vehicle is not limited in the invention.
On the basis of the above embodiment, the updating the vehicle lane change state based on the collision detection result, the first lane identification of the current lane, and the second lane identification of the target lane, and determining the longitudinal-transverse processing information includes: when the collision detection result is that the vehicle lane change state is in lane change, if the first lane mark of the current lane is the same as the second lane mark of the target lane, determining that the current vehicle reaches the target lane, updating the vehicle lane change state to lane change completion, determining that transverse processing information is to keep the current lane, and longitudinally processing information is to restore the running speed; and if the first lane mark of the current lane is different from the second lane mark of the target lane, the current vehicle continuously changes lanes, the lane changing state of the vehicle is updated into lane changing, transverse processing information is determined to be lane changing, and longitudinal processing information is determined based on a speed change strategy.
The speed change strategy can be understood as the current speed change strategy of the vehicle during the lane change. The change strategy may be formulated according to vehicles of the target lane.
On the basis of the above embodiment, the determining longitudinal processing information based on the gear shift strategy includes: if the target lane has a front vehicle, acquiring the speed and the distance of the front vehicle; and determining longitudinal processing information based on the front vehicle speed and the front vehicle distance.
Specifically, whether a vehicle ahead exists in a target lane is judged, if the vehicle ahead exists in the target lane, the speed of the current vehicle and the speed of the vehicle ahead are judged, and if the vehicle ahead does not exist in the target lane, acceleration longitudinal processing information is output. And further, judging whether the speed difference value between the current vehicle and the previous vehicle is greater than a preset speed, if so, outputting acceleration longitudinal processing information, and if not, judging the distance between the current vehicle and the previous vehicle.
And further, judging whether the distance between the front vehicle and the current vehicle is greater than a preset distance, if so, outputting accelerated longitudinal processing information, and if not, keeping the lane changing speed.
In some optional embodiments, when the collision detection result is that the lane change state is a passing lane change state and the lane change state of the vehicle is not in a lane change state, if the lane change state of the vehicle is lane change completion or lane change termination, it indicates that the lane change needs to be started or the lane change needs to be re-entered at this time, the lane change state of the vehicle is updated to be in the lane change state, the transverse processing information is output as the lane change, and the longitudinal processing information is determined based on the gear change strategy. If the lane change state of the vehicle is not the lane change completion or the lane change termination, the state of the lane change process is unknown, the algorithm is wrong, the lane change state of the vehicle is updated to be an unknown state, and the transverse and longitudinal processing information is decision failure.
On the basis of the foregoing embodiment, the updating the vehicle lane change state based on the collision detection result, the first lane identification of the current lane, and the second lane identification of the target lane, and determining the longitudinal-transverse direction processing information further includes: when the collision detection result is that the vehicle does not pass and the vehicle lane change state is in lane change, if the first lane mark of the current lane is the same as the second lane mark of the target lane, the vehicle arrives at the target lane, the vehicle lane change state is updated to lane change completion, the transverse processing information is determined to be the current lane keeping, and the longitudinal processing information is the running speed recovery; and if the first lane mark of the current lane is different from the second lane mark of the target lane, continuing lane changing of the current vehicle, updating the lane changing state of the vehicle to be lane changing termination, determining that transverse processing information is returned to the original lane, and determining that longitudinal processing information is deceleration.
In some optional embodiments, when the collision detection result is no passage and the vehicle lane change state is not in lane change, the current vehicle lane change state is maintained unchanged because the obstacle vehicle of the target lane does not satisfy the lane change condition. Further, whether the current vehicle runs to the current lane end point or the preset range of the solid line is judged, if yes, the target lane does not meet the lane change condition and approaches the current lane end point, the lane cannot be changed and the vehicle runs to the end of the current lane, transverse processing information is output to keep the current lane, and longitudinal processing information is parking; if not, outputting the transverse processing information to keep the current lane, and outputting the longitudinal processing information to slow down to wait for the lane changing time. Wherein, the threshold value parameter in the preset range at the current lane ending point or the solid line can be set according to experience.
The embodiment of the invention provides a lane change processing method, which comprises the steps of obtaining vehicle state information, a terminal position and road information, wherein the vehicle state information comprises the current vehicle position; determining whether a target lane is included in the current navigation path based on the current vehicle position, the end point position and the road information; if so, performing collision detection on the vehicle, updating the lane change state of the vehicle based on the collision detection result, the first lane mark of the current lane and the second lane mark of the target lane, and determining transverse and longitudinal processing information. In the technical scheme, the lane condition is fully considered by judging whether the current navigation path contains the target lane, so that the obtained processing information is more reliable; the collision detection is added, so that the current vehicle can be prevented from colliding, the lane changing process is safer, and in addition, the transverse and longitudinal processing information is a decision result matched transversely and longitudinally, so that the driving habit of a human driver is better met.
Example four
Fig. 6 is a schematic structural diagram of a lane change processing apparatus according to a fourth embodiment of the present invention, where the lane change processing apparatus according to the fourth embodiment of the present invention may be implemented by software and/or hardware, and may be configured in a vehicle-mounted terminal and/or a server to implement the lane change processing method according to the fourth embodiment of the present invention. The device may specifically include: an information acquisition module 410, a target lane determination module 420, and a landscape orientation processing module 430.
The information acquisition module 410 is configured to acquire vehicle state information, a terminal position, and road information, where the vehicle state information includes a current vehicle position; a target lane determination module 420 for determining whether a target lane is included in a current navigation path based on the current vehicle position, the end point position, and the road information; and a transverse and longitudinal processing module 430, configured to determine transverse and longitudinal processing information of lane change of the vehicle if the determination is positive.
The embodiment of the invention provides a lane change processing device, which is used for acquiring vehicle state information, a terminal position and road information, wherein the vehicle state information comprises a current vehicle position; determining whether a target lane is included in the current navigation path based on the current vehicle position, the end point position and the road information; and if so, determining the transverse and longitudinal processing information of lane changing of the vehicle. In the technical scheme, the lane condition is fully considered by judging whether the current navigation path contains the target lane, so that the processed information is safer and more reliable, and in addition, the processed information in the transverse and longitudinal directions is a decision result matched in the transverse and longitudinal directions, so that the driving habit of a human driver is better met.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the traverse/longitudinal processing module 430 may further include:
a current lane determining unit for determining a current lane based on the current vehicle position and the road information;
and the information processing unit is used for updating the lane change state of the vehicle based on the first lane mark of the current lane and the second lane mark of the target lane and determining the transverse and longitudinal processing information.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, before determining the lateral-longitudinal processing information of the vehicle, the method further includes:
the collision detection module is used for performing collision detection on the vehicle;
correspondingly, the information processing unit further comprises:
and the transverse and longitudinal information processing subunit is used for updating the lane change state of the vehicle based on the collision detection result, the first lane mark of the current lane and the second lane mark of the target lane and determining transverse and longitudinal processing information.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the vehicle state information further includes a current vehicle speed and a target vehicle speed, and the collision detection module may specifically be configured to:
determining a safe distance between the current vehicle and the target vehicle based on the speed of the front vehicle, the speed of the target vehicle and a preset lane changing time;
and if the safe distance is larger than a preset safe distance threshold value, the current vehicle passes through collision detection.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the horizontal and vertical information processing subunit may further include:
the same-identification subunit is used for determining that the current vehicle arrives at the target lane if the first lane identification of the current lane is the same as the second lane identification of the target lane when the collision detection result is that the vehicle passes and the lane change state of the vehicle is in lane change, updating the lane change state of the vehicle to the lane change completion, and determining that the transverse processing information is the current lane keeping state and the longitudinal processing information is the running speed recovery;
and the different-mark subunit is used for continuing changing the lane of the current vehicle if the first lane mark of the current lane is different from the second lane mark of the target lane, updating the lane changing state of the vehicle into the lane changing state, determining that the transverse processing information is the lane changing state, and determining the longitudinal processing information based on a speed change strategy.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the identifying different sub-units may further be configured to:
if the target lane has a front vehicle, acquiring the speed and the distance of the front vehicle;
and determining longitudinal processing information based on the front vehicle speed and the front vehicle distance.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the horizontal and vertical information processing subunit may further be configured to:
when the collision detection result is that the vehicle does not pass and the vehicle lane change state is in lane change, if the first lane mark of the current lane is the same as the second lane mark of the target lane, the vehicle arrives at the target lane, the vehicle lane change state is updated to lane change completion, the transverse processing information is determined to be the current lane keeping, and the longitudinal processing information is the running speed recovery;
and if the first lane mark of the current lane is different from the second lane mark of the target lane, continuing lane changing of the current vehicle, updating the lane changing state of the vehicle to be lane changing termination, determining that transverse processing information is returned to the original lane, and determining that longitudinal processing information is deceleration.
The lane change processing device provided by the embodiment of the invention can execute the lane change processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 7 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. FIG. 7 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in FIG. 7, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, and commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 36 having a set (at least one) of program modules 26 may be stored, for example, in system memory 28, such program modules 26 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 26 generally perform the functions and/or methodologies of the described embodiments of the invention.
Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with electronic device 12, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown in FIG. 7, the network adapter 20 communicates with the other modules of the electronic device 12 via the bus 18. It should be appreciated that although not shown in FIG. 7, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement a lane change processing method provided in the present embodiment.
EXAMPLE six
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a lane change processing method, including:
acquiring vehicle state information, a terminal position and road information, wherein the vehicle state information comprises a current vehicle position;
determining whether a target lane is included in a current navigation path based on the current vehicle position, the end point position, and the road information;
and if so, determining the transverse and longitudinal processing information of lane changing of the vehicle.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having 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. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A lane change processing method is characterized by comprising the following steps:
acquiring vehicle state information, a terminal position and road information, wherein the vehicle state information comprises a current vehicle position;
determining whether a target lane is included in a current navigation path based on the current vehicle position, the end point position, and the road information;
and if so, determining the transverse and longitudinal processing information of lane changing of the vehicle.
2. The method of claim 1, wherein the determining the cross-machine direction processing information of the vehicle for lane change comprises:
determining a current lane based on the current vehicle location and the road information;
and updating the lane change state of the vehicle based on the first lane mark of the current lane and the second lane mark of the target lane, and determining the transverse and longitudinal processing information.
3. The method of claim 2, further comprising, prior to determining the vehicle's longitudinal-lateral processing information:
performing collision detection on the vehicle;
correspondingly, the updating the vehicle lane change state based on the first lane mark of the current lane and the second lane mark of the target lane and determining the transverse and longitudinal processing information comprises:
and updating the lane change state of the vehicle based on the collision detection result, the first lane mark of the current lane and the second lane mark of the target lane, and determining the transverse and longitudinal processing information.
4. The method of claim 3, wherein the vehicle state information further includes a current vehicle speed and a target vehicle speed, the performing collision detection on the vehicle comprising:
determining a safe distance between the current vehicle and the target vehicle based on the speed of the front vehicle, the speed of the target vehicle and a preset lane changing time;
and if the safe distance is larger than a preset safe distance threshold value, the current vehicle passes through collision detection.
5. The method of claim 3, wherein updating a vehicle lane change status based on the collision detection result, the first lane identification of the current lane, and the second lane identification of the target lane, and determining cross-machine direction processing information comprises:
when the collision detection result is that the vehicle lane change state is in lane change, if the first lane mark of the current lane is the same as the second lane mark of the target lane, determining that the current vehicle reaches the target lane, updating the vehicle lane change state to lane change completion, determining that transverse processing information is to keep the current lane, and longitudinally processing information is to restore the running speed;
and if the first lane mark of the current lane is different from the second lane mark of the target lane, the current vehicle continuously changes lanes, the lane changing state of the vehicle is updated into lane changing, transverse processing information is determined to be lane changing, and longitudinal processing information is determined based on a speed change strategy.
6. The method of claim 5, wherein the determining longitudinal processing information based on a gear shift strategy comprises:
if the target lane has a front vehicle, acquiring the speed and the distance of the front vehicle;
and determining longitudinal processing information based on the front vehicle speed and the front vehicle distance.
7. The method of claim 3, wherein updating a vehicle lane change status based on the collision detection result, the first lane identification of the current lane, and the second lane identification of the target lane, and determining cross-machine direction processing information, further comprises:
when the collision detection result is that the vehicle does not pass and the vehicle lane change state is in lane change, if the first lane mark of the current lane is the same as the second lane mark of the target lane, the vehicle arrives at the target lane, the vehicle lane change state is updated to lane change completion, the transverse processing information is determined to be the current lane keeping, and the longitudinal processing information is the running speed recovery;
and if the first lane mark of the current lane is different from the second lane mark of the target lane, continuing lane changing of the current vehicle, updating the lane changing state of the vehicle to be lane changing termination, determining that transverse processing information is returned to the original lane, and determining that longitudinal processing information is deceleration.
8. A lane change processing apparatus, comprising:
the system comprises an information acquisition module, a display module and a control module, wherein the information acquisition module is used for acquiring vehicle state information, a terminal position and road information, and the vehicle state information comprises a current vehicle position;
a target lane determination module for determining whether a target lane is included in a current navigation path based on the current vehicle position, the end point position, and the road information;
and the transverse and longitudinal processing module is used for determining transverse and longitudinal processing information of lane change of the vehicle if the transverse and longitudinal processing information is positive.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the lane-change processing method of any of claims 1-7.
10. A storage medium containing computer-executable instructions for performing the lane-change processing method of any of claims 1-7 when executed by a computer processor.
CN202111149197.1A 2021-09-29 2021-09-29 Lane changing processing method and device, storage medium and electronic equipment Pending CN113899378A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111149197.1A CN113899378A (en) 2021-09-29 2021-09-29 Lane changing processing method and device, storage medium and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111149197.1A CN113899378A (en) 2021-09-29 2021-09-29 Lane changing processing method and device, storage medium and electronic equipment

Publications (1)

Publication Number Publication Date
CN113899378A true CN113899378A (en) 2022-01-07

Family

ID=79189296

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111149197.1A Pending CN113899378A (en) 2021-09-29 2021-09-29 Lane changing processing method and device, storage medium and electronic equipment

Country Status (1)

Country Link
CN (1) CN113899378A (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111923910A (en) * 2020-09-14 2020-11-13 福瑞泰克智能系统有限公司 Method for planning lane change of vehicle, autonomous vehicle and storage medium
CN112416004A (en) * 2020-11-19 2021-02-26 腾讯科技（深圳）有限公司 Control method and device based on automatic driving, vehicle and related equipment

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111923910A (en) * 2020-09-14 2020-11-13 福瑞泰克智能系统有限公司 Method for planning lane change of vehicle, autonomous vehicle and storage medium
CN112416004A (en) * 2020-11-19 2021-02-26 腾讯科技（深圳）有限公司 Control method and device based on automatic driving, vehicle and related equipment

Similar Documents

Publication Publication Date Title
EP3699048B1 (en) Travelling track prediction method and device for vehicle
WO2022105579A1 (en) Control method and apparatus based on autonomous driving, and vehicle and related device
CN107953884B (en) Travel control apparatus and method for autonomous vehicle
CN107848534B (en) Vehicle control device, vehicle control method, and medium storing vehicle control program
CN113267199B (en) Method and device for planning driving track
WO2022007655A1 (en) Automatic lane changing method and apparatus, and device and storage medium
CN111301409A (en) Parking path planning method and device, vehicle and storage medium
CN113905940A (en) Autonomous vehicle maneuvering based on risks associated with obscured areas
US11845468B2 (en) Method and system for operating an autonomous agent with incomplete environmental information
JP2018097599A (en) Winker determination device and automated drive system
CN113631452B (en) Lane change area acquisition method and device
CN114475656A (en) Travel track prediction method, travel track prediction device, electronic device, and storage medium
CN113602263A (en) Vehicle avoidance method and device, vehicle-mounted equipment and storage medium
CN110435648B (en) Vehicle travel control method, device, vehicle, and storage medium
CN115497322B (en) Narrow road vehicle meeting method, device, equipment and storage medium
CN113899378A (en) Lane changing processing method and device, storage medium and electronic equipment
CN114771533A (en) Control method, device, equipment, vehicle and medium for automatic driving vehicle
CN114511834A (en) Method and device for determining prompt information, electronic equipment and storage medium
TWI750762B (en) Hybrid planniing method in autonomous vehicles and system thereof
CN112904843B (en) Automatic driving scene determining method and device, electronic equipment and storage medium
CN115923783A (en) Automatic vehicle driving obstacle avoidance method and system based on high-precision map lane lines
CN115635980A (en) Vehicle passing method, device, equipment and storage medium
CN116674644A (en) Anti-collision control method and device and electronic equipment
CN117508232A (en) Track prediction method, device, equipment and medium for vehicle surrounding obstacle
CN118046925A (en) Automatic driving vehicle meeting avoidance method and device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination