CN114771531A

CN114771531A - Lane change control method, lane change control device, lane change control apparatus, lane change control vehicle, and lane change control medium

Info

Publication number: CN114771531A
Application number: CN202210529986.6A
Authority: CN
Inventors: 李鹤; 谭明伟; 蔡世民; 陈汉尧; 韩贤贤; 徐刚; 高如杉; 冷长峰
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2022-07-22

Abstract

The application discloses lane change control method, device, equipment, vehicle and medium, wherein the method comprises the following steps: acquiring an operation signal generated by a steering lamp operation rod of a current vehicle in a driving process; determining a target lane according to the control signal; judging whether the current vehicle is switched to a target lane or not according to the vehicle body distribution conditions of the initial lane and the target lane of the current vehicle before lane changing and the change of the control signal; and controlling the current vehicle to change the lane according to the judgment result. According to the technical scheme of the embodiment of the application, whether the current vehicle is switched to the target lane or not is judged according to the vehicle body distribution conditions of the vehicle in the initial lane and the vehicle body distribution conditions of the vehicle in the target lane and the change of the control signal, so that the real lane changing intention of a driver can be accurately determined, the possible violation or accident caused by the control of the steering lamp control lever in the lane changing process is prevented, the driving safety is improved, and the driving experience of the driver is improved.

Description

Lane changing control method, lane changing control device, lane changing control equipment, vehicle and medium

Technical Field

The application relates to the technical field of automatic driving, in particular to a lane change control method, a lane change control device, lane change control equipment, a lane change control vehicle and a lane change control medium.

Background

With the popularization of the intelligent traffic concept, more and more manufacturers focus on the field of automatic driving. Under the assistance of artificial intelligence technology, lane keeping and automatic cruising capabilities of an automatic driving vehicle are obviously improved, but lane changing capability in the driving process is still to be improved.

At present, aiming at an automatic lane changing method of an automatic driving vehicle, a multi-sensor is adopted to identify the control condition of a driver in the vehicle and the road condition outside the vehicle, and the vehicle is controlled to automatically change lanes. However, the method has simple control logic and poor lane changing safety.

Disclosure of Invention

The application provides a lane change control method, a lane change control device, lane change control equipment, a lane change control vehicle and a lane change control medium, so that the safety of an automatic driving vehicle in an automatic lane change process is improved.

According to an aspect of the present application, there is provided a lane change control method including:

acquiring an operation signal generated by a steering lamp operation rod of a current vehicle in a running process;

determining a target lane according to the control signal;

judging whether the current vehicle is switched to a target lane or not according to the vehicle body distribution conditions of the initial lane and the target lane of the current vehicle before lane changing and the change of the control signal;

and controlling the current vehicle to change the lane according to the judgment result.

According to another aspect of the present application, there is provided a lane change control apparatus including:

the control signal acquisition module is used for acquiring a control signal generated by a steering lamp control rod in the running process of the current vehicle;

the target lane determining module is used for determining a target lane according to the control signal;

the lane change intention judging module is used for judging whether the current vehicle is switched to the target lane or not according to the vehicle body distribution conditions of the initial lane and the target lane of the current vehicle before lane change and the change of the control signal;

and the vehicle lane changing control module is used for controlling the current vehicle to change lanes according to the judgment result.

According to another aspect of the present application, 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 a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the lane-change control method according to any embodiment of the present application.

According to another aspect of the present application, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a lane-change control method according to any one of the embodiments of the present application when the computer instructions are executed.

According to the technical scheme of the embodiment of the application, whether the current vehicle is switched to the target lane or not is judged according to the vehicle body distribution conditions of the vehicle in the initial lane and the vehicle body distribution conditions of the vehicle in the target lane and the change of the control signal, so that the real lane changing intention of a driver can be accurately determined, the possible violation or accident caused by the control of the steering lamp control lever in the lane changing process is prevented, the driving safety is improved, and the driving experience of the driver is improved.

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

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1A is a flowchart of a lane-change control method according to an embodiment of the present application;

FIG. 1B is a schematic diagram of a vehicle lane-change process according to an embodiment of the present disclosure;

fig. 2A is a flowchart of a lane-change control method according to a second embodiment of the present application;

FIG. 2B is a schematic view illustrating a calculation of distribution of a vehicle body according to a second embodiment of the present application;

fig. 2C is a schematic diagram of a lane change control process provided in the second embodiment of the present application;

fig. 3 is a schematic structural diagram of a lane-change control device according to a third embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device implementing the lane change control method according to the embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1A is a flowchart of a lane-changing control method provided in an embodiment of the present application, where the embodiment is applicable to a situation where a lane-changing intention of a driver is determined in a lane-changing process, and the method may be executed by a lane-changing control device, where the lane-changing control device may be implemented in a form of hardware and/or software, and the lane-changing control device may be configured in an electronic device, and the electronic device may also be configured in an autonomous vehicle. As shown in fig. 1, the method includes:

and S110, acquiring an operation signal generated by a steering lamp operation rod during the running process of the current vehicle.

The control signal of the steering lamp control rod can be a steering lamp signal generated after the steering lamp control rod is operated, and the control signal of the steering lamp control sense can also be a control signal used for indicating the current vehicle to change the lane and/or turn as the steering lamp control signal is suitable for lane change control when the current vehicle is an automatic driving vehicle. It follows that steering and/or lane changing can be performed according to the control signal of the turn signal control lever during the current vehicle driving process (e.g. automatic cruise mode, lane keeping mode).

And S120, determining a target lane according to the control signal.

The target lane may be another lane (different from the lane in which the current vehicle is traveling) in which the current vehicle has a lane changing tendency, and the position of the current vehicle about to change to another lane, which may be a left lane or a right lane of the lane in which the current vehicle is traveling, may be determined according to the control signal obtained in the foregoing step. It can be understood that when the steering lamp control rod of the current vehicle is turned to turn the left turn lamp to be on, the target lane can be determined as the left lane of the current lane; similarly, when the steering lamp control rod of the current vehicle is shifted to the right steering lamp to be turned on, the target lane can be determined to be the right lane of the money lane.

And S130, judging whether the current vehicle is switched to the target lane or not according to the vehicle body distribution condition of the initial lane and the target lane of the current vehicle before lane changing and the change of the control signal.

Wherein the initial lane before lane change may be a current lane in which the current vehicle is traveling. Of course, in practical situations, the current vehicle may make a continuous lane change, i.e. at least twice, in which case the initial lane before the lane change may be the previous lane before the switch to the target lane. It will be appreciated that the initial lane and the target lane described in the embodiments of the present application should be in adjacent relationship, i.e. the initial lane and the target lane form a road situation of three lane lines corresponding to two lanes. The vehicle body distribution condition can be the proportion of the vehicle body occupied by the current vehicle in the target lane, namely the proportion of the vehicle body in the target lane occupying the whole vehicle body is taken as the vehicle body distribution condition in the process of switching the current vehicle to the target lane; of course, the body proportion of the current vehicle in the target lane can be compared with the proportion of the vehicle body still remaining in the initial lane to determine the body distribution; the distribution of the vehicle bodies may also be determined according to the distance between the vehicle and each of the lane lines outside the two lanes, and the embodiment of the present application only describes the distribution of the vehicle bodies, and the above example is not to be considered as a limitation of the embodiment of the present application.

It can be understood that, after the current vehicle obtains the control signal of the steering lamp control lever, lane changing is performed according to the change of the control signal, and when the control signal is a left turn lamp signal, it can be determined that the target lane is the left lane of the initial lane, that is, lane changing is performed leftward; similarly, when the control signal is a right turn signal, it may be determined that the target lane is a right lane of the initial lane, i.e., a lane change is performed rightward.

It should be noted that, if the current vehicle is changing lanes at this time, as shown in fig. 1B, a lane changing process of the vehicle is schematically illustrated, in the figure, when it is determined that the current vehicle changes the control signal from the signal without lane changing to the left lane changing, the current vehicle changes the lane from the initial lane to the target lane, the vehicle necessarily passes through a lane line between the two lanes, and if the current vehicle crosses the lane line, the control signal changes again, for example, the driver touches the turn signal control lever intentionally or unintentionally, so that the control signal changes again during the lane changing process. At this time, according to the distribution situation of the vehicle body, the lane to which the vehicle is more inclined is judged, and the vehicle is controlled to change the lane or return to the initial lane.

Continuing with FIG. 1B as an example, in actual practice, there may be some operation by the driver that causes the steering signal to change. In the lane changing process of the vehicle as shown in fig. 1B, assuming that the current vehicle is switched from the initial lane to the target lane to the left, the operation of the steering lamp control lever occurs during the lane changing process, and at this time, there are two cases that the steering lamp is turned off or turned back (i.e., turned right), if the steering lamp is turned back, it can be determined that the driver does not want to change lanes due to subjective intention, and the current vehicle should return to the initial lane for driving; if the operation is to turn off the turn signal lamp at this time, the vehicle is already pressing the line in the process of switching lanes (the lane change of the vehicle will inevitably pass through the lane line), and whether the driver wants to continue changing lanes to the end of changing lanes needs to be flexibly judged. Therefore, whether lane changing is finished or whether the vehicle returns to the initial lane is judged by calculating the vehicle body distribution conditions of the current vehicle body in the target lane and the initial lane, and if more vehicle bodies are distributed in the target lane, the lane changing is determined to be finished; and if the vehicle bodies are less distributed in the target lane, determining to return to the initial lane. It can be understood that, in actual conditions, some drivers do not develop good driving habits, and in the lane changing process, the drivers think that the vehicles cross the lane changing line, turn off the steering lamp control rod randomly, which may cause the automatic driving vehicles to fail to complete the lane changing, and make a violation of traffic regulations or even cause accidents.

And S140, controlling the current vehicle to change lanes according to the judgment result.

Based on the determination result of whether to switch to the target lane determined in the foregoing step, the current vehicle may perform a lane change or lane non-change driving style.

Example two

Fig. 2A is a flowchart of a lane change control method provided in the second embodiment of the present application, and in this embodiment, based on the foregoing embodiment, the operation of determining whether the current vehicle switches lanes is detailed, so as to determine whether the driver wants to continue to change lanes or return to the driving intention of the original lane in the lane change process. As shown in fig. 2A, the method includes:

s210, acquiring a control signal generated by a steering lamp control rod in the driving process of the current vehicle.

And S220, determining a target lane according to the control signal.

And S230, if the control signal is switched to the closed state, determining whether the current vehicle is switched to the target lane according to the vehicle body distribution condition.

If the control signal of the steering lamp control lever is changed from turning on the steering lamp (left turn lamp or right turn lamp) to turning off the steering lamp, whether the current vehicle changes lane can be judged according to the vehicle body distribution situation in the foregoing embodiment.

In an optional implementation manner, the lane change control method may further include: acquiring a lane image of the current vehicle traveling direction; determining the relative distance between the current vehicle and two outer lane lines of the initial lane and the target lane according to the lane images; and determining the distribution condition of the vehicle body according to the relative distance.

The lane image of the current vehicle traveling direction can be understood as an image shot by facing the traveling front in the traveling process of the current vehicle, and can be acquired in real time through the camera. And calculating the distance between the current vehicle and the lane line outside the two lanes according to the acquired lane images, thereby acquiring and determining the distribution condition of the vehicle body.

For example, a lane image in the traveling direction may be acquired by a camera, based on the lane image, lane line information may be output according to a preset image processing algorithm, the preset image processing algorithm may employ any lane line recognition algorithm in the prior art, which is not limited in the embodiment of the present application, for example, a lane line reconstruction algorithm may be employed, lane line positions may be output according to the lane image acquired by the camera, quality classification may be performed on lane lines, according to the preset lane line reconstruction algorithm, according to a lane line on a side with good quality, lane lines with poor quality or without recognition may be reasonably reconstructed, and finally, lane line information that may be used for calculating the vehicle body distribution condition may be obtained.

In the above embodiment, the vehicle body distribution is determined by acquiring the lane images and further according to the calculated relative distances between the current vehicle and the two outer lane lines of the initial lane and the target lane. The vehicle body distribution is converted into the distance between the current vehicle and the two outer side lanes for judgment, so that the judgment efficiency is improved, and the subsequent lane changing control according to the vehicle body distribution condition is facilitated.

In an optional implementation manner, if the control signal is switched to the off state, determining whether the current vehicle is switched to the target lane according to the vehicle body distribution condition may include: and if the vehicle body distribution condition is close to the target lane, determining that the current vehicle is switched to the target lane.

The vehicle body distribution condition may include approaching a target lane or approaching an initial lane, and it may be understood that the control signal is changed from the turn-on state to the turn-off state by the turn signal in the lane changing process, and if the vehicle body of the current vehicle approaches the target lane at this time, it is determined that the current vehicle changes the lane.

Optionally, if the vehicle body distribution situation is close to the target lane, determining that the current vehicle is switched to the target lane may include: and if the relative distance between the current vehicle and the lane line outside the initial lane is not less than the relative distance between the current vehicle and the lane line outside the target lane, determining that the current vehicle is switched to the target lane.

Because the target lane is adjacent to the initial lane (i.e., the situation that the three lane lines divide into two lanes as described above), in the lane changing process of the current vehicle, as shown in fig. 2B, the distance CD between the current vehicle and the lane line outside the target lane and the distance EF between the current vehicle and the lane line outside the initial lane are calculated according to the lane image and the lane line information obtained in the foregoing steps, and it is determined whether the current vehicle should be switched to the target lane according to the size of CD and EF. And when the CD is not less than EF, determining that the current vehicle is switched to the target lane.

In another optional implementation, if the control signal is switched to the off state, determining whether the current vehicle is switched to the target lane according to the vehicle body distribution condition may include: and if the vehicle body distribution condition is close to the initial lane, determining that the current vehicle is not switched to the target lane.

It can be understood that, in the lane changing process, the control signal is changed from the turn-on state of the turn lamp to the turn-off state, and if the body of the current vehicle is close to the initial lane at the moment, it is determined that the current vehicle cannot change lanes (i.e. return to the initial lane for driving).

Optionally, if the vehicle body distribution situation is close to the initial lane, determining that the current vehicle is not switched to the target lane, which may include: and if the relative distance between the current vehicle and the lane line outside the initial lane is smaller than the relative distance between the current vehicle and the lane line outside the target lane, determining that the current vehicle is not switched to the target lane. As shown in fig. 2B, continuing the previous example, when CD is less than EF, it is determined that the current vehicle is not performing lane change.

And S240, controlling the current vehicle to change lanes according to the judgment result.

According to the technical scheme, whether lane changing is carried out or not is determined according to the vehicle body distribution condition when the control signal is switched to the closed state, so that the lane changing method has the advantages that the real lane changing intention of a driver can be obtained in the lane changing process, the safe lane changing of the vehicle or the returning to an initial lane for keeping is facilitated, the lane changing safety and flexibility of the vehicle are improved, and the lane changing capacity of the vehicle is more intelligent.

The determination of the relative distance of the current vehicle from the two outer lane lines of the initial lane and the target lane is by way of example. Fig. 2B is a schematic diagram illustrating a calculation of a distribution of a vehicle body according to a second embodiment of the present application. As shown in fig. 2B, the camera may be disposed at the front of the current vehicle, for example, at a position of a point O in fig. 2B, and the camera may directly output the OA and OH lengths, that is, the OA and OH lengths are calculated according to the acquired lane image and a preset algorithm. In an actual situation, due to the difference of the positions of the cameras arranged at the front part of the vehicle body, errors in calculation may be caused, and therefore, the distance from the edge of the vehicle to the lane line, that is, the actual distance CD from the edge BC of the vehicle to the lane line outside the target lane and the actual distance EF from the edge FG of the vehicle to the lane line outside the initial lane, are calculated instead. From the OA, OH lengths obtained by the camera, and the pre-measured distances OB and OG of the camera from the edge of the vehicle, the CD can be calculated according to the following formula:

CD＝OA×cosβ-OB÷cosβ；

wherein β is the heading angle of the current vehicle at this time, and can be obtained according to a sensor (such as an inertial measurement unit) of the current vehicle. The calculation of EF and GH on the other side of the current vehicle body is the same.

In one embodiment, FIG. 2C provides a schematic diagram of a lane-change control process.

The lane change control process shown in fig. 2C specifically includes:

s201, acquiring lane line information output by the camera.

S202, judging whether a driver controls a steering lamp control rod or not, if so, executing S203; otherwise, S207 is executed.

And S203, changing lanes and calculating the actual distance between the current vehicle and the lane line outside the two lanes at the same time.

S204, judging whether the driver controls the steering lamp control rod again, and if the control state is kept unchanged, executing S206; if the driver turns off the turn signal lamp, executing S205; if the driver leads that turn signal lever at the driver' S lunch box, S207 is executed.

S205, judging the actual distance between the two sides, and if the distance between the lane lines outside the target lane is smaller, executing S206; otherwise, S207 is executed.

And S206, switching to a target lane for driving.

And S207, keeping the initial lane driving.

It can be understood that in S204 and S205, when the driver turns off the turn signal, the current vehicle may calculate the distance between the left and right edges of the vehicle and the lane lines outside the two lanes in real time, and determine, according to the two distance data, how far the current vehicle has shifted to the target lane in the process of controlling the vehicle to change lanes until the driver turns off the turn signal, and if the distance (distance between the distance and the lane line outside the target lane) deviating to the target lane is smaller than the distance between the distance and the lane line outside the initial lane, it indicates that the driver abandons the lane change, and at this time, the current vehicle is controlled to keep the initial lane running; on the contrary, if the distance to the target lane (the distance between the target lane and the lane line outside the target lane) is not less than the distance between the target lane and the lane line outside the initial lane, it indicates that the driver considers that the vehicle has completed lane changing and only wants to turn off the turn signal, and at this time, the current vehicle is controlled to complete lane changing to the target lane.

EXAMPLE III

Fig. 3 is a schematic structural diagram of a lane change control device according to a third embodiment of the present application. As shown in fig. 3, the lane-change control apparatus 300 may include: a control signal acquisition module 310, a target lane determination module 320, a lane change intention determination module 330, and a vehicle lane change control module 340, wherein,

the control signal acquiring module 310 is configured to acquire a control signal generated by a turn signal control lever during a driving process of a current vehicle;

a target lane determining module 320, configured to determine a target lane according to the control signal;

the lane change intention determining module 330 is configured to determine whether the current vehicle is switched to the target lane according to vehicle body distribution conditions of an initial lane and a target lane of the current vehicle before lane change and changes of the control signal;

and the vehicle lane changing control module 340 is configured to control the current vehicle to change the lane according to the determination result.

In an alternative embodiment, the lane change intention determining module 330 may include:

and the lane changing judgment unit is used for determining whether the current vehicle is switched to the target lane according to the vehicle body distribution condition if the control signal is switched to the closed state.

In an optional implementation, the lane change determining unit may include:

and the lane switching judgment subunit is used for determining that the current vehicle is switched to the target lane if the vehicle body distribution situation is close to the target lane.

In an optional implementation, the lane change determining unit may include:

and the lane keeping judging subunit is used for determining that the current vehicle is not switched to the target lane if the vehicle body distribution situation is close to the initial lane.

In an optional embodiment, the lane-change control apparatus 300 may further include:

the lane image acquisition module is used for acquiring a lane image of the current vehicle advancing direction;

the lane distance determining module is used for determining the relative distance between the current vehicle and two outer lane lines of the initial lane and the target lane according to the lane image;

and the vehicle body distribution determining module is used for determining the vehicle body distribution condition according to the relative distance.

In an optional implementation manner, the lane switching determination subunit may be specifically configured to:

and if the relative distance between the current vehicle and the lane line outside the initial lane is not less than the relative distance between the current vehicle and the lane line outside the target lane, determining that the current vehicle is switched to the target lane.

In an optional implementation manner, the lane keeping determination subunit may specifically be configured to:

and if the relative distance between the current vehicle and the lane line outside the initial lane is smaller than the relative distance between the current vehicle and the lane line outside the target lane, determining that the current vehicle is not switched to the target lane.

The lane change control device provided by the embodiment of the application can execute the lane change control method provided by any embodiment of the application, and has corresponding functional modules and beneficial effects for executing each lane change control method.

Example four

FIG. 4 shows a schematic structural diagram of an electronic device 10 that may be used to implement embodiments of the present application. 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 assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), 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 present application that are described and/or claimed herein.

As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the lane-change control methods provided herein.

In some embodiments, the lane-change control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the lane-change control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the lane-change control method by any other suitable means (e.g., by way 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.

The application further provides an automatic driving vehicle, and the electronic equipment provided in the embodiment can be arranged in the automatic driving vehicle.

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

In the context of this application, a computer readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage 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. Alternatively, the computer readable storage medium may be a machine readable signal medium. 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 an electronic device 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 electronic device. 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 can 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), blockchain networks, and the internet.

The computing 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 can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

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

The above-described embodiments are not intended to limit the scope of the present 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 application shall be included in the protection scope of the present application.

Claims

1. A lane change control method is characterized by comprising the following steps:

determining a target lane according to the control signal;

judging whether the current vehicle is switched to the target lane or not according to the vehicle body distribution conditions of the initial lane and the target lane of the current vehicle before lane changing and the change of the control signal;

2. The method according to claim 1, wherein the determining whether the current vehicle is switched to the target lane according to the distribution of the current vehicle in the initial lane and the target lane and the change of the control signal comprises:

and if the control signal is switched to be in a closed state, determining whether the current vehicle is switched to the target lane or not according to the vehicle body distribution condition.

3. The method of claim 2, wherein the determining whether the current vehicle is switched to the target lane according to the body distribution if the control signal is switched to the off state comprises:

and if the vehicle body distribution condition is close to a target lane, determining that the current vehicle is switched to the target lane.

4. The method of claim 2, wherein determining whether the current vehicle is switched to the target lane according to the body distribution if the control signal is switched to the off state comprises:

and if the vehicle body distribution condition is close to the initial lane, determining that the current vehicle is not switched to the target lane.

5. The method according to any one of claims 1-4, further comprising:

acquiring a lane image of the current vehicle traveling direction;

determining the relative distance between the current vehicle and two outer lane lines of the initial lane and the target lane according to the lane image;

and determining the distribution condition of the vehicle body according to the relative distance.

6. The method of claim 3, wherein determining that the current vehicle is switched to a target lane if the body distribution is near the target lane comprises:

7. The method of claim 4, wherein determining that the current vehicle does not switch to the target lane if the body distribution is near an initial lane comprises:

8. A lane-change control apparatus, comprising:

and the vehicle lane changing control module is used for controlling the current vehicle to change the lane according to the judgment result.

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the lane-change control method of any of claims 1-7.

10. Autonomous vehicle, characterized in that it is provided with an electronic device according to claim 9.

11. A computer-readable storage medium storing computer instructions for causing a processor to perform the lane-change control method of any one of claims 1-7 when executed.