CN114802251A

CN114802251A - Control method and device for automatic driving vehicle, electronic device and storage medium

Info

Publication number: CN114802251A
Application number: CN202210517271.9A
Authority: CN
Inventors: 杨煌荣; 张宽
Original assignee: Apollo Intelligent Technology Beijing Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2022-05-11
Filing date: 2022-05-11
Publication date: 2022-07-29

Abstract

The disclosure provides a control method and device for an automatic driving vehicle, electronic equipment and a storage medium, and relates to the technical field of computers, in particular to the technical field of intelligent transportation. The specific implementation scheme is as follows: in response to detecting the lane-changing instruction, controlling the vehicle to enter a lane-changing driving mode under the condition that the distance between the vehicle and the obstacle at the current moment is determined to meet a first distance condition, wherein the first distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current moment, and the lane-changing driving mode represents a mode that the vehicle performs lane-changing operation; in response to detecting that the vehicle is passing the lane line, the vehicle is controlled to enter a target lane entry mode if it is determined that a distance between the vehicle and the obstacle at the vehicle-passing time satisfies a second distance condition, the second distance condition being determined according to a speed of the vehicle and a speed of the obstacle at the vehicle-passing time, the target lane entry mode characterizing a mode in which the vehicle enters the target lane.

Description

Control method and device for automatic driving vehicle, electronic device and storage medium

Technical Field

The present disclosure relates to the field of artificial intelligence, and more particularly to the field of automated driving, intelligent transportation, high-precision maps, and autonomous parking, cloud services, internet of vehicles, and intelligent cockpit technologies. And more particularly, to a control method, apparatus, electronic device, and storage medium for an autonomous vehicle.

Background

With the development of artificial intelligence technology, automatic driving technology has also been developed. The automatic driving technology is a technology which can assist or replace a driver to steer and keep driving on a road without manual operation by means of a computer and an artificial intelligence technology, and realizes a series of operations such as following, braking, lane changing and the like based on decision planning.

Disclosure of Invention

The disclosure provides a control method and device for an autonomous vehicle, an electronic device and a storage medium.

According to an aspect of the present disclosure, there is provided a control method of an autonomous vehicle, including: in response to detecting a lane change command, controlling the vehicle to enter a lane change driving mode in a case where a distance between the vehicle and an obstacle at a current time is determined to satisfy a first distance condition, wherein the first distance condition is determined according to a speed of the vehicle and a speed of the obstacle at the current time, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and in response to detecting that the vehicle is passing a lane line, controlling the vehicle to enter a target lane entry mode in response to determining that a distance between the vehicle and the obstacle at a vehicle passing time, which represents a time at which a target position of the vehicle passes the lane line, satisfies a second distance condition, which is determined based on a speed of the vehicle and a speed of the obstacle at the vehicle passing time, and the target lane entry mode represents a mode at which the vehicle enters the target lane.

According to another aspect of the present disclosure, there is provided a control apparatus of an autonomous vehicle, including: a first control module, configured to, in response to detecting a lane change instruction, control the vehicle to enter a lane change driving mode in a case where it is determined that a distance between the vehicle and an obstacle at a current time satisfies a first distance condition, where the first distance condition is determined according to a speed of the vehicle and a speed of the obstacle at the current time, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and a second control module, configured to, in response to detecting that the vehicle is passing through a lane line, control the vehicle to enter a target lane entry mode if it is determined that a distance between the vehicle and the obstacle at a vehicle passing time, which represents a time at which a target position of the vehicle passes through the lane line, satisfies a second distance condition, which is determined based on a speed of the vehicle and a speed of the obstacle at the vehicle passing time, and the target lane entry mode, which represents a mode at which the vehicle enters the target lane.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method.

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

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

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

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

Drawings

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

FIG. 1 schematically illustrates an exemplary system architecture to which control methods and apparatus for an autonomous vehicle may be applied, according to an embodiment of the disclosure;

FIG. 2 schematically illustrates a flow chart of a control method of an autonomous vehicle according to an embodiment of the disclosure;

FIG. 3 schematically illustrates an example schematic of a control method of an autonomous vehicle according to an embodiment of the disclosure;

FIG. 4 schematically illustrates a block diagram of a control apparatus of an autonomous vehicle in accordance with an embodiment of the disclosure; and

fig. 5 schematically shows a block diagram of an electronic device adapted to implement a control method of an autonomous vehicle according to an embodiment of the disclosure.

Detailed Description

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

The lane changing operation of the vehicle in the driving process easily affects the agility of the vehicle, and how to evaluate the lane changing track safety of the vehicle and bear the safety risk is an urgent problem to be solved.

The position relationship of the track of the vehicle and the track of the obstacle at the same time is predicted at regular time intervals, so that whether the lane change of the vehicle is safe or not is determined according to the predicted track of the obstacle.

However, in the case where the lane change intention of the vehicle exists and the user determines that the lane change is safe, the lane change is not triggered by the determination of the lane change unsafe according to the predicted trajectory of the obstacle. Alternatively, in the event that the vehicle has triggered a lane change and the user determines to continue lane change safe, the lane change may not be triggered because it is determined to be unsafe from the predicted trajectory of the obstacle. In both cases, the behavior of the vehicle is easily conserved, reducing the lane-changing ability of the vehicle.

Therefore, the embodiment of the invention provides a control scheme of an automatic driving vehicle. And under the condition that the distance between the vehicle and the obstacle at the current moment meets a first distance condition, controlling the vehicle to enter a lane changing driving mode, and under the condition that the distance between the vehicle and the obstacle at the vehicle passing moment meets a second distance condition, determining that the vehicle enters a target lane converging mode. By the technical means, the vehicle can safely converge into the target lane, so that whether lane changing operation of the vehicle is safe or not is determined in stages in the initial stage of lane changing and the line passing stage of the vehicle, the game effect of the vehicle on obstacles is improved, and lane changing capacity of the vehicle is improved.

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

In the technical scheme of the invention, before the personal information of the user is acquired or collected, the authorization or the consent of the user is acquired.

Fig. 1 schematically shows an exemplary system architecture to which the content processing method and apparatus may be applied, according to an embodiment of the present disclosure.

It should be noted that fig. 1 is only an example of a system architecture to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios. The system architecture of the embodiment of the present disclosure may also be implemented in other ways according to implementation needs.

As shown in fig. 1, the system architecture 100 according to this embodiment may include a terminal 101, a vehicle end 102, a cloud end 103, a network 104, and a server 105. The network 104 is used to provide a medium for communication links between the terminals 101, the vehicle end 102, the cloud end 103, and the server 105. Network 104 may include various connection types, such as wired and/or wireless communication links, and so forth.

The terminal 101 may be a variety of electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.

A user may use the terminal 101 to interact with the server 105 over the network 104 to receive or send messages, navigate a vehicle, and the like. The terminal 101 may have installed thereon client applications for various positioning and navigation functions, such as a map-like application, a navigation-like application, and the like (for example only).

The vehicle end 102 may be a variety of vehicles that support positioning and navigation functions, including but not limited to internal combustion engine powered vehicles, electric vehicles, or hybrid electric vehicles. Alternatively, the vehicle end 102 may be an autonomous vehicle configured with an automatic control system, including but not limited to a smart car, a smart school bus, a smart truck, and the like.

The vehicle end 102 may include a vehicle end sensor unit, a vehicle end sensing unit, a vehicle end positioning unit, and a vehicle end decision unit. For example, the vehicle end sensor unit may include at least one of: vehicle-end vision sensor, vehicle-end laser radar and vehicle-end radar. The vision sensor may include a camera. The vehicle-end radar may include at least one of: vehicle-end millisecond wave radar and vehicle-end ultrasonic radar. The vehicle-end sensing unit may include a hardware subunit and a software subunit. The hardware subunits may include a processor and a memory. The software subunit may include an operating system and planning and routing threads. The vehicle-end locating unit may include at least one of: global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Global Navigation Satellite System (GNSS), GLONASS, Inertial Measurement Unit (IMU), vision sensor, vehicle-end laser radar, and vehicle-end radar. Additionally, the autonomous vehicle may also include a software application. The software application may include at least one of: navigation type applications, entertainment type applications, and instant messaging type applications.

Cloud includes, but is not limited to, cloud-controlled platforms and third party platforms. The cloud-controlled platform may include at least one of: the system comprises an edge cloud control platform, a region cloud control platform and a center cloud control platform. The cloud control platform can be a cloud server or a cloud server set. The cloud Server is a host product in a cloud computing service system, and overcomes the defects of high management difficulty and weak service expansibility in a traditional physical host and a Virtual Private Server (VPS). The third party platform may include at least one of: a traffic management platform, a map platform, a travel service platform, a vehicle management platform and an Original Equipment Manufacturer (OEM) platform.

The server 105 may be a server that provides various services, such as a background management server (for example only) that provides support for content browsed by the user using the terminal 101, positioning information acquired by the vehicle terminal 102, and the like. The background management server may analyze and perform other processing on the received data such as the user request and the vehicle-side instruction, and feed back a processing result (for example, a webpage, information, or data obtained or generated according to the user request and the vehicle-side instruction) to the terminal 101, the vehicle-side 102, and the cloud 103.

It should be noted that the control method of the autonomous vehicle provided by the embodiment of the present disclosure may be executed by the vehicle end 102. Accordingly, the control device of the autonomous vehicle provided by the embodiment of the disclosure may also be disposed in the vehicle end 102.

Alternatively, the control method of the autonomous vehicle provided by the embodiment of the present disclosure may be executed by the terminal 101. Accordingly, the control device of the autonomous vehicle provided by the embodiment of the present disclosure may also be provided in the terminal 101.

Alternatively, the control method of the autonomous vehicle provided by the embodiment of the present disclosure may be executed by the cloud 103. Correspondingly, the control device of the autonomous vehicle provided by the embodiment of the disclosure may also be disposed in the cloud 103.

Alternatively, the control method of the autonomous vehicle provided by the embodiment of the present disclosure may be executed by the server 105. Accordingly, the control device of the autonomous vehicle provided by the embodiment of the present disclosure may also be provided in the server 105.

It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. According to the implementation requirement, any number of terminals, vehicle ends, cloud ends, networks and servers can be provided.

It should be noted that the sequence numbers of the respective operations in the following methods are merely used as a representation of the operations for the convenience of description, and should not be construed as representing the execution order of the respective operations. The method need not be performed in the exact order shown, unless explicitly stated.

Fig. 2 schematically shows a flow chart of a control method of an autonomous vehicle according to an embodiment of the disclosure.

As shown in FIG. 2, the method 200 includes operations S210-S220.

In operation S210, in response to detecting the lane change instruction, in a case where it is determined that a distance between the vehicle and the obstacle at the current time satisfies a first distance condition, the vehicle is controlled to enter a lane change driving mode. The first distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the present time. The lane change driving mode represents a mode in which the vehicle performs a lane change operation.

In operation S220, in response to detecting that the vehicle is passing through the lane line, the vehicle is controlled to enter a target lane entry mode if it is determined that a distance between the vehicle and the obstacle at the time of the vehicle passing through the lane line satisfies a second distance condition. The vehicle passing time represents the time when the target position of the vehicle passes through the lane line. The second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the time of the vehicle passing line. The target lane merge mode characterizes a mode in which the vehicle merges into the target lane.

According to an embodiment of the present disclosure, the lane change instruction may be generated by at least one of: navigation instruction of the vehicle-mounted machine system, navigation instruction of third-party navigation, lane change operation of a driver and the like. For example, in the case that the in-vehicle system determines that lane change is currently required, a lane change instruction may be generated. Alternatively, the lane change instruction may be generated in the event that the third party navigation determines that a lane change is currently required. Alternatively, the lane change instruction may be generated when the driver selects a left lane change or a right lane change.

According to the embodiments of the present disclosure, environmental information around a vehicle can be detected from a sensor such as a radar or a camera provided on the vehicle. For example, the current driving state information of the vehicle, the information of the current lane, the information of the target lane after lane change, the information of the obstacle on the target lane, and the like may be determined. The current driving state information of the vehicle may include acceleration, deceleration, uniform speed, lane change, or the like.

According to an embodiment of the present disclosure, the obstacle may include at least one of: pedestrians, bicycles, automobiles, motorcycles, or other vehicles. The information of the obstacle on the target lane may include a current driving state of the obstacle or whether the obstacle has a tendency to accelerate or alternatively decelerate, or the like.

According to an embodiment of the present disclosure, after obtaining the current driving state information of the vehicle, the information of the current lane, the information of the target lane, and the information of the obstacle on the target lane by recording, the first distance condition may be determined according to the speed of the vehicle and the speed of the obstacle at the current time. The first distance condition may be used to characterize a condition that the distance between the vehicle and the obstacle needs to satisfy in a case where the vehicle is able to perform a lane change without colliding with the obstacle.

For example, the first distance condition may be that a longitudinal distance of a leading vehicle to the vehicle in the target lane is greater than a corresponding safe distance or a longitudinal distance of a trailing vehicle to the vehicle in the target lane is greater than a corresponding safe distance, etc. The preceding vehicle in the target lane refers to the first vehicle located ahead of the vehicle in the target lane, that is, the vehicle closest to the vehicle that can be detected ahead in the target lane. The rear vehicle in the target lane refers to a first vehicle located behind the vehicle in the target lane, that is, a vehicle closest to the vehicle that can be detected behind in the target lane.

According to the embodiment of the disclosure, in the case that the distance between the vehicle and the obstacle at the current moment is determined to meet the first distance condition, the vehicle can be controlled to enter the lane changing driving mode, so that the vehicle can conveniently perform the lane changing operation and complete the lane changing process.

According to the embodiments of the present disclosure, in the case where it is recorded that the vehicle is passing the lane line, the second distance condition may be determined according to the speed of the vehicle at the vehicle passing-line time and the speed of the obstacle at the vehicle passing-line time. The second distance condition may be used to characterize the condition that the distance between the vehicle and the obstacle needs to meet in the event that the vehicle is able to complete the lane change and not collide with the obstacle. The vehicle line passing time may represent a time at which a target location of the vehicle passes the lane line. For example, the target position may include a center position of the vehicle as a whole.

According to the embodiment of the disclosure, under the condition that the distance between the vehicle and the obstacle at the vehicle passing-line moment is determined to meet the second distance condition, the vehicle can be controlled to enter the target lane converging mode, so that the vehicle can conveniently execute converging operation, and the converging process is completed. In addition, the distance between the vehicle and the obstacle at the vehicle passing-through time satisfies the second distance condition, which may also indicate that the path trajectory generated by the autonomous vehicle satisfies the second distance condition.

According to the embodiment of the disclosure, the vehicle is controlled to enter the lane-changing driving mode under the condition that the distance between the vehicle and the obstacle at the current moment is determined to meet the first distance condition, and the vehicle is determined to enter the target lane merging mode under the condition that the distance between the vehicle and the obstacle at the vehicle passing moment is determined to meet the second distance condition. By the technical means, the vehicle can safely converge into the target lane, so that whether lane changing operation of the vehicle is safe or not is determined in stages in the initial stage of lane changing and the line passing stage of the vehicle, the game effect of the vehicle on obstacles is improved, and lane changing capacity of the vehicle is improved.

Referring now to FIG. 3, a method for controlling an autonomous vehicle according to the present disclosure is further described with reference to the specific embodiments.

According to an embodiment of the present disclosure, the first distance condition includes a third distance condition and a fourth distance condition.

According to an embodiment of the present disclosure, the third distance condition is determined according to the first predetermined distance and the second predetermined distance. The second predetermined distance is determined according to a first distance corresponding to the headway and a second distance corresponding to the collision time at the current time. The first distance is determined based on the velocity of the obstacle at the current time. The second distance is determined based on the speed of the vehicle and the speed of the obstacle at the present time.

According to an embodiment of the present disclosure, the fourth distance condition is determined according to the third predetermined distance and the fourth predetermined distance. The third predetermined distance is determined from a third distance corresponding to the headway at the present time, the fourth predetermined distance is determined from a fourth distance corresponding to the time of collision at the present time, the third distance is determined from the speed of the obstacle at the present time, and the fourth distance is determined from the speed of the vehicle and the speed of the obstacle at the present time.

According to an embodiment of the present disclosure, the control method of the autonomous vehicle may further include the following operations.

And determining that the distance between the vehicle and the obstacle at the current moment meets a third distance condition under the condition that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the first minimum distance. The first minimum distance is a minimum distance of the first predetermined distance and the second predetermined distance. And determining that the distance between the vehicle and the obstacle at the current moment meets a fourth distance condition under the condition that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the second minimum distance. The second minimum distance is a minimum distance of the third predetermined distance and the fourth predetermined distance.

According to the embodiment of the present disclosure, in the case where a vehicle traveling in the current lane triggers a lane change, a certain safe distance needs to exist from the obstacle of the target lane to leave enough reaction time for the obstacle.

According to an embodiment of the disclosure, a headway (Time Head Way, THW) may be determined according to a headway between two vehicles and a rear vehicle speed. For example, the headway may be equal to the ratio between the two headways and the rear vehicle speed. The Time To Collision (TTC) can be determined according to the distance between two vehicles and the relative speed of the two vehicles. For example, the time to collision may be equal to the ratio between the distance between two vehicles and the relative speed of the two vehicles. Both vehicles may include an auto-drive vehicle and an obstacle. The rear vehicle may refer to an obstacle.

According to the embodiment of the disclosure, the headway and the collision time can be used for representing the collision risk emergency degree of the front vehicle and the rear vehicle in the driving process. The headway can be used for evaluating potential collision risks in a stable car following state with a short headway, and the collision time can be used for evaluating potential collision risks in an emergency situation with a short distance between the front car and the rear car and a large speed difference.

According to an embodiment of the present disclosure, the third distance condition and the fourth distance condition may be used to characterize a condition that a distance between the vehicle and an obstacle needs to satisfy in a case where the vehicle is able to perform a lane change and does not collide with the obstacle.

According to the embodiment of the present disclosure, t may be t according to the current time t _cur Speed of the obstacle

And a parameter w ₁ Determining a first distance corresponding to the headway

According to an embodiment of the present disclosure, the speed of the obstacle due to the current time is

And the speed of the vehicle

May be equal, and thus, may be based on the distance parameter buffer ₂ Speed of vehicle at present time

Velocity of obstacle

And a parameter w ₂ Determining a second distance corresponding to the time of the collision

According to the embodiment of the disclosure, the first distance corresponding to the headway can be determined

And a second distance corresponding to the time of collision

Determining a second predetermined distance

Can be based on the first predetermined distance buffer ₁ And a second predetermined distance, determining a third distance condition.

According to the embodiment of the disclosure, the speed of the obstacle at the current moment can be determined

And a parameter w ₃ Determining a third distance

According to the speed of the vehicle at the current moment

Velocity of obstacle

Parameter w ₄ And distance parameter buffer ₃ Determining a fourth distance

Can be based on the third distance corresponding to the headway at the current moment

A third predetermined distance is determined. The fourth predetermined distance may be determined from a fourth distance corresponding to the time of collision at the current time. May be based on the third predetermined distance

And a fourth predetermined distance

A fourth distance condition is determined.

According to an embodiment of the present disclosure, in a case where it is determined that a distance between the vehicle and the obstacle at the current time satisfies a first distance condition, controlling the vehicle to enter the lane change driving mode may include the following operations.

In a case where it is determined that the speed of the vehicle at the current time is greater than or equal to the speed of the obstacle at the current time, the vehicle is controlled to enter the lane-change travel mode in response to a determination that the distance between the vehicle and the obstacle at the current time satisfies a third distance condition. The third distance condition is determined based on the first predetermined distance, the speed of the vehicle at the present time, and the speed of the obstacle. In a case where it is determined that the speed of the vehicle at the current time is less than the speed of the obstacle at the current time, the vehicle is controlled to enter the lane-change travel mode in response to a determination that the distance between the vehicle and the obstacle at the current time satisfies a fourth distance condition. The fourth distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the present time.

According to an embodiment of the present disclosure, when determining the current time t ═ t _cur Speed of the vehicle

Greater than or equal to the speed of the obstacle at the current moment

Namely, it is

In this case, it may be determined whether the distance between the vehicle and the obstacle at the current time satisfies a third distance condition, which may be expressed using the following formula (1).

According to an embodiment of the present disclosure, d _safe1 The distance of the vehicle from the obstacle at the current time may be characterized. buffer ₁ And buffer ₂ The distance parameter, w, can be characterized ₁ And w ₂ The parameters can be characterized in that,

the speed of the obstacle at the current moment can be characterized,

the speed of the vehicle at the current time may be characterized.

In a case where it is determined that the distance between the vehicle and the obstacle at the current time satisfies the third distance condition, the vehicle may be controlled to enter the lane change driving mode.

According to an embodiment of the present disclosure, the speed of the vehicle at the current time of determination

Speed of obstacle less than current time

Namely, it is

In this case, it may be determined whether the distance between the vehicle and the obstacle at the current time satisfies a fourth distance condition, which may be characterized using the following formula (2).

According to an embodiment of the present disclosure, d _safe2 The distance of the vehicle from the obstacle at the current time may be characterized. buffer ₃ Characterizing a distance parameter. w is a ₃ And w ₄ And characterizing the parameters.

Can characterize the barrier at the current momentThe velocity of the obstruction.

The speed of the vehicle at the present time may be characterized.

In a case where it is determined that the distance between the vehicle and the obstacle at the current time satisfies the fourth distance condition, the vehicle may be controlled to enter the lane change driving mode.

According to the embodiment of the disclosure, in the initial stage of lane changing of the vehicle, whether the distance between the vehicle and the obstacle meets the corresponding distance condition or not is determined according to the distance corresponding to the headway and the distance corresponding to the collision time under different conditions by determining the magnitude relation between the speed of the vehicle at the current moment and the speed of the obstacle at the current moment. By the technical means, the vehicle can safely change the lane to run, so that whether the lane changing operation of the vehicle is safe or not is determined at the initial stage of lane changing of the vehicle, and the lane changing capability of the vehicle at the initial stage of lane changing is improved.

According to an embodiment of the present disclosure, the second distance condition is determined according to a fifth predetermined distance and a sixth predetermined distance. The sixth predetermined distance is determined based on the speed of the vehicle and the speed of the obstacle at the time of the vehicle passing line.

According to an embodiment of the present disclosure, the above method may further include the following operations.

And under the condition that the distance between the vehicle and the obstacle at the vehicle passing-through moment is determined to be larger than or equal to the third minimum distance, determining that the distance between the vehicle and the obstacle at the vehicle passing-through moment meets a second distance condition. The third minimum distance is a minimum distance of the fifth predetermined distance and the sixth predetermined distance.

According to the embodiment of the disclosure, the vehicle passing time t can be defined as _mid Speed of the vehicle

Velocity of obstacle

Parameter w ₁ And a parameter w ₆ Determining a sixth predetermined distance

May be according to a fifth predetermined distance buffer ₄ And a sixth predetermined distance, determining a second distance condition.

According to the embodiments of the present disclosure, since a more different strategy needs to be adopted in the case where the target position of the vehicle has passed the line, that is, it is desirable to pull a sufficient distance from the obstacle to the vehicle, and it is more likely that the vehicle can be safely merged in, the speed of the vehicle and the speed of the obstacle may not be distinguished in the case where it is determined whether the second distance condition is satisfied.

According to an embodiment of the present disclosure, in a case where it is determined that the distance between the vehicle and the obstacle at the vehicle passing-line time is greater than or equal to the third minimum distance, it may be determined that the distance between the vehicle and the obstacle at the vehicle passing-line time satisfies a second distance condition, which may be expressed using the following equation (3).

According to an embodiment of the present disclosure, d _safe3 The distance between the vehicle and the obstacle at the time of the vehicle passing through the line can be represented. buffer ₄ A distance parameter can be characterized. w is a ₅ And w ₆ The parameters may be characterized.

The speed of the obstacle can be characterized,

the speed of the vehicle may be characterized.

According to the embodiment of the disclosure, in a vehicle passing-line stage of a vehicle lane change, whether the distance between the vehicle and an obstacle meets a corresponding distance condition is determined. By the technical means, the vehicle can safely enter the target lane, and therefore whether the lane changing operation of the vehicle is safe or not is determined in the vehicle passing stage of the lane changing of the vehicle, and the lane changing capability of the vehicle in the vehicle passing stage is improved.

According to an embodiment of the present disclosure, the control method 200 of an autonomous vehicle may further include the following operations.

And in response to detecting that the vehicle completes the target lane entry mode, determining the acceleration of the obstacle in the expected movement mode according to the end time, the target distance and the target speed. The target distance represents the distance of the obstacle from the vehicle at the target time. The target speed characterizes the speed of the obstacle at the target moment. The end time represents the time at which the vehicle as a whole enters the target lane. The target time is determined based on the current time and the obstacle response time. Based on the acceleration, a risk level for the vehicle to perform the lane-change driving mode is determined. The risk level is used to characterize the degree of influence of the vehicle entering the target lane on the obstacle.

According to the embodiment of the present disclosure, the expected movement pattern may be configured according to the time service requirement, and is not limited herein. For example, the desired motion pattern may include a variable speed linear motion pattern. The variable linear motion pattern may include a uniform variable linear motion pattern.

According to an embodiment of the present disclosure, the target time may be a maximum of the current time and the obstacle reaction time. The target time may be an average of the current time and the obstacle response time. The obstacle reaction time may refer to a time when the obstacle senses a lane change intention of the vehicle and starts to react.

According to the embodiment of the present disclosure, the degree of influence of the vehicle entering the target lane on the obstacle may be determined according to the risk level. For example, the higher the lane change safety risk level of the risk level vehicle, the greater the possibility that the lane change causes a safety risk, and thus, the greater the degree of influence of the vehicle entering the target vehicle on the obstacle. And vice versa.

According to an embodiment of the present disclosure, in the case where the autonomous vehicle generates a plurality of path trajectories, it is also possible to determine a target path trajectory from among the plurality of path trajectories according to accelerations corresponding to each of the plurality of path trajectories.

According to embodiments of the present disclosure, the desired motion pattern includes a uniform velocity linear motion pattern.

According to an embodiment of the present disclosure, determining a risk level of the vehicle entering the lane-change driving mode according to the acceleration may include the following operations.

In the case where it is determined that the acceleration is greater than or equal to the predetermined acceleration threshold value, it is determined that the risk level of the vehicle entering the lane-change travel mode is a safety level. The predetermined acceleration threshold is greater than or equal to zero.

According to the embodiment of the present disclosure, in the case where the host vehicle completes the lane change, the acceleration at which the obstacle travels in the expected movement pattern may be determined according to the following formula (4).

According to an embodiment of the present disclosure, t _finish An end time, e.g., a time at which the vehicle completes a lane change, may be characterized. t is t ₀ ＝max(t _cur ，t _react ) A target time instant may be characterized.

The target distance may be characterized, for example, at t ═ t ₀ In the case of (2), the distance between the obstacle and the vehicle

The target speed may be characterized, for example, at t ═ t ₀ The speed of the obstacle. buffer ₅ Characterizing a distance parameter. a is _obs Acceleration may be characterized, for example, in the event that the vehicle completes a lane change, acceleration of the obstacle is desired to avoid collision with the vehicle.

According to the embodiment of the present disclosure, the average acceleration a that the obstacle should take to avoid the collision can be obtained according to the formula (4) _obs 。a _obs The method can be used for representing the influence degree of the vehicle lane change on the obstacle and evaluating the safety risk of the vehicle lane change.

For example, canAt an acceleration a according to the desired obstacle _obs And evaluating the lane change safety risk level of the vehicle. For example, acceleration a of an obstacle _obs The smaller, the higher the lane change safety risk level of the vehicle, i.e., the greater the possibility that the lane change will cause a safety risk.

For example, if the acceleration a _obs Greater than 0, it may indicate that there is no collision with the vehicle even if the obstacle accelerates, i.e., the vehicle lane change is safe, in which case the lane change risk level of the vehicle may be the first risk level. If the acceleration is less than 0 and greater than-1, it can be stated that the obstacle slightly stepping on the brake can achieve avoidance of the vehicle, in which case the safe lane change risk level of the vehicle may be the second risk level. If the acceleration is less than-N, it can be stated that the obstacle needs hard braking to avoid the vehicle, in which case the safe lane change risk level of the host vehicle may be the Nth risk level. n may be a number less than-1. N may be an integer greater than or equal to 3.

According to an embodiment of the present disclosure, parameter w ₁ ～w ₆ And distance parameter buffer ₁ ～buffer ₅ May be a predetermined number greater than zero. The above parameters may be configured according to actual service requirements, and are not limited herein.

According to the embodiment of the disclosure, after the vehicle is converged into the target lane, the lane-changing safety risk level of the vehicle can be evaluated according to the expected acceleration of the obstacle, so that the safety evaluation of the lane-changing operation of the vehicle is realized.

Fig. 3 schematically shows an example schematic of a control method of an autonomous vehicle according to an embodiment of the disclosure.

As shown in fig. 3, a control method of an autonomous vehicle according to an embodiment of the present disclosure will be described with an obstacle as another vehicle. Velocity v of the vehicle _adc Velocity of the obstacle is v _obs 。

t _cur Characterizing the current time. At t _cur Vehicle center position 301_1, obstacle center position 302_ 1.

t _react Characterizing obstacle switchesThe time of starting the reaction. At t _react Vehicle center position 301_2, obstacle center position 302_ 2.

t _mid And representing the moment when the central point of the vehicle passes through the lane line. At t _mid Vehicle center position 301_3, obstacle center position 302_ 3.

t _finish The end time of the vehicle completing the lane change, i.e., the time when the vehicle body completely enters the target lane, is characterized. At t _finish Vehicle center position 301_4, obstacle center position 302_ 4.

At t _cur In response to detecting a lane change instruction, a lane change instruction may be detected according to t _cur Velocity v of the vehicle _adc Velocity v of the obstacle _obs The vehicle center position 301_1 and the obstacle center position 302_1 determine a first distance condition and determine that the vehicle and the obstacle are at t _cur May be controlled to enter a lane change driving mode to start a lane change operation when the distance satisfies the first distance condition.

At t _mid In response to detecting that the vehicle is passing the lane line, a function t may be determined _mid Velocity v of the vehicle _adc Velocity v of the obstacle _obs The vehicle center position 301_3 and the obstacle center position 302_3 determine a second distance condition and determine that the vehicle and the obstacle are at t _mid May control the vehicle to enter the target lane merge mode to start the merge operation when the distance of (b) satisfies the second distance condition.

At t _finish Responsive to detecting that the vehicle has completed the target lane entry mode, a target lane entry mode may be determined according to t _cur And t _react A target time is determined. For example, if t _cur ＞t _react Then the target time may be determined as t _cur In this case, the target distance may be determined from the vehicle center position 301_1 and the obstacle center position 302_ 1. Alternatively, if t _cur ＜t _react Then the target time may be determined as t _react In this case, the target distance may be determined from the vehicle center position 301_2, the obstacle center position 302_ 2. According to the ending time, the target time and the targetDistance and target speed, determining the acceleration of the obstacle in the expected movement pattern, and determining the risk level of the vehicle executing the lane-change driving mode according to the acceleration.

The above is merely an exemplary embodiment, but is not limited thereto, and other control methods of an autonomous vehicle known in the art may be included as long as the autonomous vehicle can be controlled.

Fig. 4 schematically shows a block diagram of a content processing apparatus according to an embodiment of the present disclosure.

As shown in fig. 4, a control apparatus 400 of an autonomous vehicle may include a first control module 410 and a second control module 420.

The first control module 410 is used for responding to the detected lane change instruction, and controlling the vehicle to enter a lane change driving mode under the condition that the distance between the vehicle and the obstacle at the current moment is determined to meet a first distance condition. The first distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the present time. The lane change driving mode represents a mode in which the vehicle performs a lane change operation.

The second control module 420 is configured to, in response to detecting that the vehicle is passing through the lane line, control the vehicle to enter the target lane merging mode if it is determined that a distance between the vehicle and the obstacle at the time of the vehicle passing through the lane line satisfies a second distance condition. The vehicle passing time represents the time when the target position of the vehicle passes through the lane line. The second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the time of the vehicle passing line. The target lane entry mode characterizes a mode in which the vehicle enters the target lane.

According to an embodiment of the present disclosure, the control apparatus 400 of the autonomous vehicle may further include a first determination module and a second determination module

And the first determination module is used for determining the acceleration of the obstacle in the expected movement mode according to the end time, the target distance and the target speed in response to the fact that the vehicle finishes the target lane entry mode. The target distance represents the distance of the obstacle from the vehicle at the target time. The target speed characterizes the speed of the obstacle at the target moment. The end time represents the time at which the vehicle as a whole enters the target lane. The target time is determined based on the current time and the obstacle response time.

And the second determination module is used for determining the risk level of the vehicle for executing the lane-changing driving mode according to the acceleration. The risk level is used to characterize the degree of influence of the vehicle entering the target lane on the obstacle.

According to an embodiment of the present disclosure, the second determination module may include a first determination unit.

A first determination unit configured to determine that a level of risk of the vehicle performing the lane-change travel mode is a safe level in a case where it is determined that the acceleration is greater than or equal to a predetermined acceleration threshold value. The predetermined acceleration threshold is greater than or equal to zero.

According to an embodiment of the present disclosure, the first distance condition includes a third distance condition and a fourth distance condition;

according to an embodiment of the present disclosure, the first control module 410 may include a first control unit and a second control unit.

A first control unit for controlling the vehicle to enter a lane change driving mode in response to determining that a distance between the vehicle and the obstacle at the current time satisfies a third distance condition, in a case where it is determined that the speed of the vehicle at the current time is greater than or equal to the speed of the obstacle at the current time. The third distance condition is determined based on the first predetermined distance, the speed of the vehicle at the present time, and the speed of the obstacle.

And a second control unit for controlling the vehicle to enter the lane-change driving mode in response to determining that the distance between the vehicle and the obstacle at the current time satisfies a fourth distance condition, in a case where it is determined that the speed of the vehicle at the current time is less than the speed of the obstacle at the current time. The fourth distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the present time.

According to an embodiment of the present disclosure, the fourth distance condition is determined according to the third predetermined distance and the fourth predetermined distance. The third predetermined distance is determined according to a third distance corresponding to the headway at the current time. The fourth predetermined distance is determined based on a fourth distance corresponding to the time of the collision at the present time. The third distance is determined based on the velocity of the obstacle at the current time. The fourth distance is determined based on the speed of the vehicle and the speed of the obstacle at the present time.

According to an embodiment of the present disclosure, the control apparatus 400 of the autonomous vehicle may further include a third determination module and a fourth determination module.

And the third determining module is used for determining that the distance between the vehicle and the obstacle at the current moment meets a third distance condition under the condition that the distance between the vehicle and the obstacle at the current moment is determined to be greater than or equal to the first minimum distance. The first minimum distance is a minimum distance of the first predetermined distance and the second predetermined distance.

And the fourth determination module is used for determining that the distance between the vehicle and the obstacle at the current moment meets a fourth distance condition under the condition that the distance between the vehicle and the obstacle at the current moment is determined to be greater than or equal to the second minimum distance. The second minimum distance is a minimum distance of the third predetermined distance and the fourth predetermined distance.

According to an embodiment of the present disclosure, the control apparatus 400 of the automatic driving vehicle may further include a fifth determination module.

And the fifth determination module is used for determining that the distance between the vehicle and the obstacle at the vehicle passing time meets the second distance condition under the condition that the distance between the vehicle and the obstacle at the vehicle passing time is greater than or equal to the third minimum distance. The third minimum distance is a minimum distance of the fifth predetermined distance and the sixth predetermined distance.

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

According to an embodiment of the present disclosure, an electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.

According to an embodiment of the present disclosure, a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method as described above.

According to an embodiment of the disclosure, a computer program product comprising a computer program which, when executed by a processor, implements the method as described above.

According to an embodiment of the present disclosure, an autonomous vehicle includes the electronic device of the present disclosure.

Fig. 5 schematically shows a block diagram of an electronic device adapted to implement a control method of an autonomous vehicle according to an embodiment of the disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also feature various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the present disclosure described and/or alternatively claimed herein.

As shown in fig. 5, the electronic device 500 comprises a computing unit 501, which may perform various suitable actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)502, alternatively from a storage unit 508 to a computer program loaded in a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

A number of components in the electronic device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 executes the respective methods and processes described above, such as the control method of the autonomous vehicle. For example, in some embodiments, the control method of an autonomous vehicle may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, parts of the computer program may alternatively all be loaded and/or installed on the electronic device 500 via the ROM 802 and/or the communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the above described control method of an autonomous vehicle may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the control method of the autonomous vehicle by any other suitable means (e.g., by means of firmware).

According to an embodiment of the present disclosure, there is provided an autonomous vehicle that may include the electronic device described in the embodiments of the present disclosure.

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), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one, alternatively plurality of computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be a special purpose, alternatively general purpose, programmable processor, that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

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

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

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) alternatively an LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse, alternatively a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, alternatively tactile feedback); and input from the user may be received in any form, including acoustic input, voice input alternatively, 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), alternatively a middleware component (e.g., an application server), alternatively a front-end component (e.g., a user computer having a graphical user interface, alternatively a web browser, through which a user can interact with an implementation of the systems and techniques described here), alternatively a computing system that includes any combination of such back-end, middleware, and alternatively front-end components. The components of the system can be interconnected by any form of digital data communication, e.g., a communication network, optionally medium. Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

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

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

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

Claims

1. A control method of an autonomous vehicle, comprising:

in response to detecting a lane change instruction, controlling the vehicle to enter a lane change driving mode in a case that the distance between the vehicle and an obstacle at the current time is determined to meet a first distance condition, wherein the first distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current time, and the lane change driving mode represents a mode of the vehicle for executing a lane change operation; and

in response to detecting that the vehicle is passing a lane line, controlling the vehicle to perform entering a target lane entry mode if it is determined that a distance between the vehicle and the obstacle at a vehicle passing time, which characterizes a time at which a target position of the vehicle passes the lane line, satisfies a second distance condition, which is determined according to a speed of the vehicle and a speed of the obstacle at the vehicle passing time, the target lane entry mode characterizing a mode at which the vehicle enters a target lane.

2. The method of claim 1, further comprising:

in response to detecting that the vehicle completes the target lane merging mode, determining acceleration of the obstacle in an expected movement mode according to an end time, a target distance and a target speed, wherein the target distance represents a distance between the obstacle and the vehicle at the target time, the target speed represents a speed of the obstacle at the target time, the end time represents a time when the vehicle integrally enters the target lane, and the target time is determined according to the current time and an obstacle reaction time; and

and determining a risk level of the vehicle entering the lane-changing driving mode according to the acceleration, wherein the risk level is used for representing the influence degree of the vehicle entering the target lane on the obstacle.

3. The method of claim 2, wherein the expected motion pattern comprises a ramp linear motion pattern.

4. A method according to claim 2 or 3, wherein said determining a level of risk of said vehicle entering said lane-change driving mode as a function of said acceleration comprises:

determining that a risk level of the vehicle entering the lane-change driving mode is a safety level in a case where the acceleration is determined to be greater than or equal to a predetermined acceleration threshold value, wherein the predetermined acceleration threshold value is greater than or equal to zero.

5. The method of any of claims 1-4, wherein the first distance condition comprises a third distance condition and a fourth distance condition;

wherein, in the case that the distance between the vehicle and the obstacle at the current moment is determined to meet the first distance condition, controlling the vehicle to enter the lane-changing driving mode comprises:

in a case where the determination is that the speed of the vehicle at the current time is greater than or equal to the speed of the obstacle at the current time, controlling the vehicle to enter the lane change driving mode in response to a determination that a distance of the vehicle from the obstacle at the current time satisfies the third distance condition, wherein the third distance condition is determined according to a first predetermined distance, the speed of the vehicle at the current time, and the speed of the obstacle; and

in a case where the determination is that the speed of the vehicle at the current time is less than the speed of the obstacle at the current time, controlling the vehicle to enter the lane change driving mode in response to a determination that a distance of the vehicle from the obstacle at the current time satisfies the fourth distance condition, wherein the fourth distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current time.

6. The method of claim 5, wherein the third distance condition is determined from the first and second predetermined distances, wherein the second predetermined distance is determined from a first distance corresponding to a headway distance and a second distance corresponding to a time of collision for the current time, the first distance is determined from a speed of the obstacle at the current time, and the second distance is determined from a speed of the vehicle and a speed of the obstacle at the current time;

wherein the fourth distance condition is determined according to a third predetermined distance and a fourth predetermined distance, wherein the third predetermined distance is determined according to a third distance corresponding to the headway time at the current time, the fourth predetermined distance is determined according to a fourth distance corresponding to the collision time at the current time, the third distance is determined according to the speed of the obstacle at the current time, and the fourth distance is determined according to the speed of the vehicle and the speed of the obstacle at the current time.

7. The method of claim 6, further comprising:

determining that the distance between the vehicle and the obstacle at the current time meets the third distance condition if the distance between the vehicle and the obstacle at the current time is greater than or equal to a first minimum distance, wherein the first minimum distance is the minimum distance of the first predetermined distance and the second predetermined distance; and

determining that the distance between the vehicle and the obstacle at the current time satisfies the fourth distance condition if it is determined that the distance between the vehicle and the obstacle at the current time is greater than or equal to a second minimum distance, wherein the second minimum distance is a minimum distance of the third predetermined distance and the fourth predetermined distance.

8. A method according to any of claims 1-7, wherein the second distance condition is determined from a fifth predetermined distance and a sixth predetermined distance, wherein the sixth predetermined distance is determined from the speed of the vehicle and the speed of the obstacle at the time of the vehicle passing line.

9. The method of claim 8, further comprising:

determining that the distance between the vehicle and the obstacle at the vehicle passing-line time meets the second distance condition under the condition that the distance between the vehicle and the obstacle at the vehicle passing-line time is greater than or equal to a third minimum distance, wherein the third minimum distance is the minimum distance of the fifth predetermined distance and the sixth predetermined distance.

10. A control apparatus of an autonomous vehicle, comprising:

the lane-changing control system comprises a first control module, a second control module and a control module, wherein the first control module is used for controlling a vehicle to enter a lane-changing driving mode under the condition that the distance between the vehicle and an obstacle at the current moment is determined to meet a first distance condition in response to the detection of a lane-changing instruction, the first distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current moment, and the lane-changing driving mode represents the mode of the vehicle for executing lane-changing operation; and

the second control module is used for responding to the detection that the vehicle passes through a lane line, and under the condition that the distance between the vehicle and the obstacle at the vehicle passing time is determined to meet a second distance condition, controlling the vehicle to enter a target lane merging mode, wherein the vehicle passing time represents the time when the target position of the vehicle passes through the lane line, the second distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the vehicle passing time, and the target lane merging mode represents the mode that the vehicle merges into the target lane.

11. The apparatus of claim 10, further comprising:

a first determination module, configured to determine, in response to detecting that the vehicle completes the target lane entry mode, an acceleration at which the obstacle travels in an expected movement manner according to an end time, a target distance, and a target speed, where the target distance represents a distance between the obstacle and the vehicle at the target time, the target speed represents a speed of the obstacle at the target time, the end time represents a time at which the vehicle enters the target lane as a whole, and the target time is determined according to the current time and an obstacle reaction time; and

and the second determination module is used for determining a risk level of the vehicle for executing the lane-changing driving mode according to the acceleration, wherein the risk level is used for representing the influence degree of the vehicle entering the target lane on the obstacle.

12. The apparatus of claim 11, wherein the desired motion comprises a ramp linear motion.

13. The apparatus of claim 11 or 12, wherein the second determining means comprises:

a first determination unit configured to determine that a level of risk of the vehicle performing the lane-change running mode is a safe level in a case where it is determined that the acceleration is greater than or equal to a predetermined acceleration threshold value, wherein the predetermined acceleration threshold value is greater than or equal to zero.

14. The apparatus of any of claims 10-13, wherein the first distance condition comprises a third distance condition and a fourth distance condition;

wherein the first control module comprises:

a first control unit configured to, in a case where it is determined that the speed of the vehicle at the current time is greater than or equal to the speed of the obstacle at the current time, in response to a determination that a distance between the vehicle and the obstacle at the current time satisfies a third distance condition, which is determined according to a first predetermined distance, the speed of the vehicle at the current time, and the speed of the obstacle, control the vehicle to enter the lane change driving mode; and

a second control unit configured to control the vehicle to enter the lane change driving mode in response to a determination that a distance between the vehicle and the obstacle at the current time satisfies a fourth distance condition in a case where it is determined that the speed of the vehicle at the current time is less than the speed of the obstacle at the current time, wherein the fourth distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current time.

15. The apparatus of claim 14, wherein the third distance condition is determined according to the first predetermined distance and a second predetermined distance, wherein the second predetermined distance is determined according to a first distance corresponding to a headway distance and a second distance corresponding to a collision time at the current time, the first distance is determined according to a speed of the obstacle at the current time, and the second distance is determined according to a speed of the vehicle and the speed of the obstacle at the current time;

16. The apparatus of claim 15, further comprising:

a third determining module, configured to determine that a distance between the vehicle and the obstacle at the current time satisfies the third distance condition if it is determined that the distance between the vehicle and the obstacle at the current time is greater than or equal to a first minimum distance, where the first minimum distance is a minimum distance of the first predetermined distance and the second predetermined distance; and

a fourth determining module, configured to determine that a distance between the vehicle and the obstacle at the current time satisfies the fourth distance condition if it is determined that the distance between the vehicle and the obstacle at the current time is greater than or equal to a second minimum distance, where the second minimum distance is a minimum distance of the third predetermined distance and the fourth predetermined distance.

17. The apparatus of any of claims 10-16, wherein the second distance condition is determined based on a fifth predetermined distance and a sixth predetermined distance, wherein the sixth predetermined distance is determined based on a speed of the vehicle and a speed of the obstacle at the time of the vehicle passing line.

18. The apparatus of claim 17, further comprising:

a fifth determining module, configured to determine that the distance between the vehicle and the obstacle at the vehicle passing-line time satisfies the second distance condition if it is determined that the distance between the vehicle and the obstacle at the vehicle passing-line time is greater than or equal to a third minimum distance, where the third minimum distance is a minimum distance of the fifth predetermined distance and the sixth predetermined distance.

19. An electronic device, comprising:

at least one processor; and

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

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any of claims 1-9.

21. A computer program product comprising a computer program which, when executed by a processor, implements a method according to any one of claims 1 to 9.

22. An autonomous vehicle comprising the electronic device of claim 19.