CN115092140A - Lane change position control method, lane change position control device, vehicle, and storage medium - Google Patents
Lane change position control method, lane change position control device, vehicle, and storage medium Download PDFInfo
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- CN115092140A CN115092140A CN202210710591.6A CN202210710591A CN115092140A CN 115092140 A CN115092140 A CN 115092140A CN 202210710591 A CN202210710591 A CN 202210710591A CN 115092140 A CN115092140 A CN 115092140A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
Abstract
The invention relates to the technical field of automatic driving, and discloses a lane-changing position control method, a lane-changing position control device, a vehicle and a storage medium, wherein the lane-changing position control method comprises the following steps: when the distance between the current driving position and the front intersection position reaches a distance threshold value, judging whether an intersection node exists between the current driving position and the front intersection position or not; when an intersection node exists between the current driving position and the front intersection position, acquiring the distance between the front intersection and the intersection node; and comparing the distance between the front intersection and the intersection node with a target distance, and changing the lane by adopting a preset lane changing strategy according to a comparison result. Therefore, when a small intersection appears in the front intersection, the distance between the front intersection and the intersection node is obtained in real time, and the lane changing strategy is determined according to the comparison result of the distance between the front intersection and the intersection node and the target distance, so that the road passing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a lane change position control method and device, a vehicle and a storage medium.
Background
The city navigation assistant driving is used for road perception and assistant driving of vehicles in the automatic driving process.
In the process of initiating navigation lane change through city navigation auxiliary driving, a distance threshold value L to an intersection is generally set, and lane change is initiated when a vehicle runs to the distance threshold value L. When a small intersection exists in the range of the distance threshold value L, if navigation lane change is initiated according to the L, vehicles are likely to be stopped by vehicles, non-motor vehicles and pedestrians which frequently pass in and out before the small intersection, and the passing efficiency is reduced.
Disclosure of Invention
The invention mainly aims to provide a lane change position control method, a lane change position control device, a vehicle and a storage medium, and aims to improve the traffic efficiency of the vehicle.
In order to achieve the above object, the present invention provides a lane-change position control method, comprising the steps of:
when the distance between the current driving position and the front intersection position reaches a distance threshold value, judging whether an intersection node exists between the current driving position and the front intersection position;
when an intersection node exists between the current driving position and the front intersection position, acquiring the distance between the front intersection and the intersection node;
and comparing the distance between the front intersection and the intersection node with a target distance, and changing the lane by adopting a preset lane changing strategy according to a comparison result.
Optionally, before comparing the distance between the intersection ahead and the intersection node with the target distance, the method further includes:
acquiring the distance between a virtual line change point close to the lane line of the front intersection and the front intersection, a lane change space reservation threshold value and the width of the intersection node;
and obtaining the target distance according to the distance between the virtual line change point and the front intersection, the lane change space reservation threshold and the width of the intersection node.
Optionally, obtaining a distance between a virtual line change point close to the lane line of the front intersection and the front intersection includes:
recognizing the lane line close to the front crossing through lane line data stored in a high-precision map to obtain the solid line information of the lane line close to the front crossing;
determining the position coordinates of each sampling point in the solid line according to the solid line information;
calculating the position coordinates of each sampling point in the solid line to obtain the length of the solid line;
and taking the length of the solid line as the distance between the change point of the virtual solid line and the front intersection.
Optionally, the performing lane change by using a preset lane change policy according to the comparison result includes:
when the comparison result is that the distance between the front intersection and the intersection node is greater than or equal to the target distance, a first lane changing instruction is initiated after the front intersection passes through the intersection node;
and changing the lane according to the first lane changing instruction.
Optionally, the performing lane change by using a preset lane change policy according to the comparison result includes:
when the comparison result is that the distance between the front intersection and the intersection node is smaller than the target distance, a second lane changing instruction is initiated;
and changing the lane according to the second lane changing instruction.
Optionally, the determining whether an intersection node exists between the current driving position and the front intersection position includes:
judging whether the intersection node is acquired from intersection data stored in a high-precision map;
when the intersection node is not obtained from the intersection data stored in the high-precision map, a navigation map is obtained;
and judging whether an intersection node exists between the current driving position and the front intersection position according to the topological relation of the navigation map.
Optionally, after determining whether an intersection node exists between the current driving position and the front intersection position, the method further includes:
when no intersection node exists between the current driving position and the front intersection position, a third lane changing instruction is initiated;
and changing the lane according to the third lane changing instruction.
Further, to achieve the above object, the present invention also proposes a lane change position control device comprising:
the judging module is used for judging whether an intersection node exists between the current driving position and the front intersection position when the distance between the current driving position and the front intersection position reaches a distance threshold value;
the acquisition module is used for acquiring the distance between the front intersection and the intersection node when the intersection node exists between the current driving position and the front intersection position;
and the lane changing module is used for comparing the distance between the front intersection and the intersection node with a target distance and changing lanes by adopting a preset lane changing strategy according to a comparison result.
Further, to achieve the above object, the present invention also proposes a vehicle including: a memory, a processor, and a lane-change position control program stored on the memory and executable on the processor, the lane-change position control program configured to implement a lane-change position control method as described above.
Further, to achieve the above object, the present invention also proposes a storage medium having stored thereon a lane-change position control program which, when executed by a processor, implements the lane-change position control method as described above.
The lane-changing position control method provided by the invention is characterized in that when the distance between the current driving position and the front intersection position reaches a distance threshold value, whether an intersection node exists between the current driving position and the front intersection position is judged; when an intersection node exists between the current driving position and the front intersection position, acquiring the distance between the front intersection and the intersection node; and comparing the distance between the front intersection and the intersection node with a target distance, and changing the lane by adopting a preset lane changing strategy according to a comparison result. Therefore, when a small intersection appears in the front intersection, the distance between the front intersection and the intersection node is obtained in real time, and the lane changing strategy is determined according to the comparison result of the distance between the front intersection and the intersection node and the target distance, so that the road passing efficiency is improved.
Drawings
FIG. 1 is a schematic vehicle configuration of a hardware operating environment in accordance with an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a lane-change position control method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a road environment according to an embodiment of the lane-change position control method of the present invention;
FIG. 4 is a schematic diagram of a high-precision map display according to an embodiment of the lane-change position control method of the present invention;
FIG. 5 is a schematic view of a navigation map display according to an embodiment of the lane-change position control method of the present invention;
FIG. 6 is a schematic diagram of position coordinates of an embodiment of a lane-change position control method according to the present invention;
FIG. 7 is a flowchart illustrating a lane-change position control method according to a second embodiment of the present invention;
FIG. 8 is a flowchart illustrating a lane-change position control method according to a third embodiment of the present invention;
fig. 9 is a functional block diagram of the lane-change position control apparatus according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may comprise a Display screen (Display), an input unit such as keys, and the optional user interface 1003 may also comprise a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the vehicle configuration shown in FIG. 1 does not constitute a limitation of the vehicle, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a lane change position control program.
In the vehicle shown in fig. 1, the network interface 1004 is mainly used for connecting a server and performing data communication with the server; the user interface 1003 is mainly used for connecting a user terminal and performing data communication with the terminal; the present invention calls the lane-change position control program stored in the memory 1005 through the processor 1001, and executes the lane-change position control method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the lane change position control method is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a lane change position control method according to a first embodiment of the present invention.
In the first embodiment, the lane change position control method includes the steps of:
step S10, when the distance between the current driving position and the front intersection position reaches the distance threshold, it is determined whether an intersection node exists between the current driving position and the front intersection position.
It should be noted that, the executing subject of the embodiment is a vehicle, a lane change position control program is installed on the vehicle, and lane change position control can be performed according to the lane change position control program, as shown in the road environment schematic diagram shown in fig. 3, and the current driving position and the position of the intersection ahead can be calculated according to a high-precision map or a navigation map.
In specific implementation, when intersection nodes are displayed in a high-precision map, the intersection nodes can be directly calculated according to the high-precision map, when intersection nodes are not displayed in the high-precision map, a navigation map needs to be obtained, the intersection nodes displayed in the navigation map are calculated, the high-precision map is a map which is provided for a vehicle to make a road decision and has high precision, and comprises data such as lane lines, lane attributes and the like, as shown in a high-precision map display schematic diagram in fig. 4, the navigation map is a map which is provided for a driver to plan a path, comprises the position and the driving direction of the vehicle on the road, and generally does not relate to related precise data such as the lane lines and the like, as shown in a navigation map display schematic diagram in fig. 5, in the embodiment, the high-precision map and the navigation map are combined and analyzed, so that more precise road information is obtained, and the road passing efficiency is improved.
In this embodiment, the distance threshold is represented by L, and may also be other parameters, which is not limited in this embodiment, in the process of initiating a navigation lane change by the city navigation assistant driving, the distance threshold L to the intersection is generally set, when the vehicle travels to the distance intersection L, the lane change is initiated, however, when there is a small intersection within the range of the distance threshold L, if the navigation lane change is initiated according to L, the traffic efficiency will be affected because of the vehicle at the small intersection, therefore, the embodiment obtains the distance between the current travel position and the front intersection position, determines whether to initiate a lane change instruction according to the distance between the front intersection and the intersection node, and compared with initiating the navigation lane change only by a fixed distance, can flexibly adjust the lane change position according to the current road environment, and improve the flexibility of lane change.
And step S20, when an intersection node exists between the current driving position and the front intersection position, acquiring the distance between the front intersection and the intersection node.
In this embodiment, an intersection node exists between the current driving position and the front intersection position, which indicates that a small intersection exists before the front intersection, and when the small intersection exists before the front intersection, the lane change position is determined according to the distance between the front intersection and the intersection node.
It should be noted that the distance between the intersection and the intersection node can be calculated according to a high-precision map or a navigation map, when intersection node information is stored in high-precision map data, intersection node coordinates are obtained according to the intersection node information, a front intersection position coordinate is obtained according to the high-precision map data, and calculation is performed according to the intersection node coordinates and the front intersection position coordinate, so as to obtain the distance between the intersection and the intersection node, for example, under the same coordinate system, the intersection node coordinates are (10, 5), the front intersection position coordinates are (30, 25), and the distance d between the intersection and the intersection node is 20m, as shown in the position coordinate diagram of fig. 6.
And step S30, comparing the distance between the front intersection and the intersection node with the target distance, and changing the lane by adopting a preset lane changing strategy according to the comparison result.
It should be noted that the preset lane change policy may be to initiate lane change after passing through a junction node, or directly initiate lane change, or may also be other lane change manners, which is not limited in this embodiment, and the target distance is the sum of the distance from the virtual-real line change point close to the lane line of the front junction to the front junction, the lane change space reservation threshold, and the width of the junction node, and the distance between the front junction and the junction node is compared with the target distance, and it is determined that lane change is initiated after passing through the junction node, or lane change is directly initiated.
In one embodiment, when the distance between the current driving position and the front intersection position reaches a distance threshold, judging whether an intersection node exists between the current driving position and the front intersection position; when a crossing node exists between the current driving position and the front crossing position, acquiring the distance between the front crossing and the crossing node; and comparing the distance between the front intersection and the intersection node with a target distance, and changing the lane by adopting a preset lane changing strategy according to a comparison result. Therefore, when a small intersection appears in the front intersection, the distance between the front intersection and the intersection node is obtained in real time, the lane changing strategy is determined according to the comparison result of the distance between the front intersection and the intersection node and the target distance, and the road passing efficiency is improved.
Referring to fig. 7, fig. 7 is a flowchart illustrating a second embodiment of the lane change position control method according to the present invention, where the second embodiment of the present invention is proposed based on the first embodiment, and before the step S30, the second embodiment further includes:
step S301, obtaining the distance between the virtual line and real line change point close to the lane line of the front crossing and the front crossing, the lane change space reservation threshold value and the width of the crossing node.
In this embodiment, the distance between the virtual line and the real line change point near the lane line of the front intersection and the front intersection is represented by m, the lane change space reservation threshold is represented by n, and the width of the intersection node is represented by a.
Further, obtaining a distance between a virtual line change point close to the lane line of the front intersection and the front intersection includes:
recognizing the lane line close to the front crossing through lane line data stored in a high-precision map to obtain the solid line information of the lane line close to the front crossing; determining the position coordinates of each sampling point in the solid line according to the solid line information; calculating the position coordinates of each sampling point in the solid line to obtain the length of the solid line; and taking the length of the solid line as the distance between the change point of the virtual solid line and the front intersection.
Continuing with the virtual-solid line change point of the lane line shown in fig. 3, the distance between the virtual-solid line change point close to the lane line of the front intersection and the front intersection can be regarded as the length of the solid line, and in order to obtain the length of the solid line, the distance can be obtained by calculating through a high-precision map, specifically, lane line data is stored in the high-precision map, the lane line data includes data, attributes and the like of the lane line, the position coordinates of the solid line in the lane line can be obtained according to the lane line data, and then the length of the solid line can be obtained according to the position coordinates of the solid line, and the specific calculation mode is similar to the calculation mode of the distance between the front intersection and the intersection node, and is not described herein again.
In this embodiment, obtaining the width of the intersection node includes:
acquiring position information of the intersection node through intersection data stored in a high-precision map; determining the position coordinates of the intersection nodes according to the position information; and calculating the position coordinates of the intersection nodes to obtain the width of the intersection nodes, wherein the specific calculation mode is similar to the calculation mode of the distance between the intersection in front and the intersection nodes, and the detailed description is omitted here.
In order to improve the calculation efficiency, the width of the intersection node can also be represented by a constant, for example, 15m, and can also be represented by other parameters.
Step S302, obtaining a target distance according to the distance between the virtual line and the real line change point close to the lane line of the front intersection and the front intersection, the lane change space reservation threshold value and the width of the intersection node.
In a specific implementation, a target distance is obtained by adding the distance between the virtual line and the real line change point close to the lane line of the front intersection and the front intersection, the lane change space reservation threshold and the width of the intersection node, namely the target distance is m + n + a, so that the target distance is determined, the lane change position is conveniently determined according to the target distance, and the flexibility of lane change control is improved.
In the provided embodiment, the distance between the virtual line and real line change points of the lane line of the front intersection and the front intersection, the lane change space reservation threshold value and the width of the intersection node are combined to realize the determination of the lane change position, compared with the method that the distance threshold value L is only used as the position for initiating the lane change, the embodiment is closer to the actual environment of the road, the lane change position is determined according to the actual environment of the road, and the flexibility of lane change control is improved.
Referring to fig. 8, fig. 8 is a flowchart illustrating a lane change position control method according to a third embodiment of the present invention, which is proposed based on the first embodiment, and in the third embodiment, the step S30 includes:
step S303, when the comparison result is that the distance between the front intersection and the intersection node is greater than or equal to the target distance, a first lane change instruction is initiated after the front intersection passes through the intersection node.
In this embodiment, the first lane change instruction is to start lane change after passing through the intersection node, and when there is an intersection node between the current driving position and the front intersection position, the lane change instruction is to change the lane to the rightmost lane after the intersection node is selected, and then turn right, so as to avoid being stuck. However, if the small intersection is too close to the intersection, if the small intersection is changed after passing through the small intersection, the variable lane space may be missed, and at the moment, the lane change still needs to be performed in advance, so that the determination of the lane change position is realized by combining the distance between the virtual line and the real line of the lane line of the front intersection and the front intersection, the reserved threshold value of the lane change space and the width of the intersection node, and when the comparison result shows that the distance between the front intersection and the intersection node is greater than or equal to the target distance, the sufficient variable lane space is provided between the virtual line and the real line of the lane line of the front intersection and the front intersection.
And step S304, performing lane change according to the first lane change instruction.
In this embodiment, the step S30 includes:
and when the comparison result shows that the distance between the front intersection and the intersection node is smaller than the target distance, initiating a second lane changing instruction, and changing lanes according to the second lane changing instruction.
In this embodiment, the second lane change instruction is to directly initiate a lane change, and when an intersection node exists between the current driving position and the intersection position ahead, the lane change is performed to the rightmost lane after the intersection node is selected, and then the vehicle turns right, so that the vehicle can be prevented from being stuck. However, if the small intersection is too close to the intersection, if the lane change is carried out after the small intersection, the lane change space can be missed, and the lane change still needs to be carried out in advance, therefore, the lane change position is determined by combining the distance between the virtual line and the real line of the lane line of the front intersection and the front intersection, the reserved threshold value of the lane change space and the width of the intersection node, when the comparison result is that the distance between the front intersection and the intersection node is smaller than the target distance, it is indicated that there is not enough variable lane space between the virtual line and the real line change point of the lane line of the front crossing and the front crossing, in this case, it is unavoidable to pass through the intersection node, otherwise the lane change opportunity is missed, and therefore, the lane change opportunity is avoided from being missed in such a manner that the lane change is initiated also when the vehicle travels to the distance intersection L, thereby improving the passing efficiency.
Further, the step S10 includes:
judging whether the intersection node is acquired from intersection data stored in a high-precision map; when the intersection node is not obtained from the intersection data stored in the high-precision map, a navigation map is obtained; and judging whether an intersection node exists between the current driving position and the front intersection position according to the topological relation of the navigation map.
In this embodiment, in the process of determining the distance by using the map data of the high-precision map, when intersection node data exists in the high-precision map, whether an intersection node exists between the current driving position and the front intersection position can be directly determined by using the high-precision map, and when intersection node data does not exist in the high-precision map, whether an intersection node exists between the current driving position and the front intersection position can be determined by using the navigation map, so that the high-precision map and the navigation map are combined to realize road perception, a lane change decision is made according to actual road data, and the intelligence and flexibility of lane control are improved.
Further, after the step S10, the method further includes:
when no intersection node exists between the current driving position and the front intersection position, a third lane changing instruction is initiated; and changing the lane according to the third lane changing instruction.
In this embodiment, the third lane change instruction is to directly initiate a lane change, and when no intersection node exists between the current driving position and the front intersection position, the lane change is initiated according to the fact that the vehicle drives to the distance intersection L, so that the intellectualization of vehicle control is realized.
The invention further provides a lane change position control device.
Referring to fig. 9, fig. 9 is a functional block diagram of the lane-change position control device according to the first embodiment of the present invention.
In a first embodiment of the lane change position control apparatus of the present invention, the lane change position control apparatus includes:
the judging module 10 is used for judging whether an intersection node exists between the current driving position and the front intersection position when the distance between the current driving position and the front intersection position reaches a distance threshold;
an obtaining module 20, configured to obtain a distance between a front intersection and an intersection node when the intersection node exists between the current driving position and the front intersection;
and the lane changing module 30 is configured to compare the distance between the front intersection and the intersection node with a target distance, and change lanes by using a preset lane changing strategy according to a comparison result.
In one embodiment, when the distance between the current driving position and the front intersection position reaches a distance threshold, judging whether an intersection node exists between the current driving position and the front intersection position; when an intersection node exists between the current driving position and the front intersection position, acquiring the distance between the front intersection and the intersection node; and comparing the distance between the front intersection and the intersection node with a target distance, and changing the lane by adopting a preset lane changing strategy according to a comparison result. Therefore, when a small intersection appears in the front intersection, the distance between the front intersection and the intersection node is obtained in real time, the lane changing strategy is determined according to the comparison result of the distance between the front intersection and the intersection node and the target distance, and the road passing efficiency is improved.
Optionally, the obtaining module 20 is further configured to obtain a distance between a virtual line change point close to the lane line of the front intersection and the front intersection, a lane change space reservation threshold, and a width of the intersection node;
and obtaining the target distance according to the distance between the virtual line change point and the front intersection, the lane change space reservation threshold and the width of the intersection node.
Optionally, the obtaining module 20 is further configured to identify a lane line approaching the front intersection through lane line data stored in a high-precision map, so as to obtain solid line information of the lane line approaching the front intersection;
determining the position coordinates of each sampling point in the solid line according to the solid line information;
calculating the position coordinates of each sampling point in the solid line to obtain the length of the solid line;
and taking the length of the solid line as the distance between the change point of the virtual solid line and the front intersection.
Optionally, the lane changing module 30 is further configured to initiate a first lane changing instruction after passing through the intersection node when the comparison result is that the distance between the front intersection and the intersection node is greater than or equal to the target distance;
and changing the lane according to the first lane changing instruction.
Optionally, the lane changing module 30 is further configured to initiate a second lane changing instruction when the comparison result is that the distance between the front intersection and the intersection node is smaller than the target distance;
and performing lane change according to the second lane change instruction.
Optionally, the determining module 10 is further configured to determine whether to acquire the intersection node from intersection data stored in the high-precision map;
when the intersection node is not obtained from the intersection data stored in the high-precision map, a navigation map is obtained;
and judging whether an intersection node exists between the current driving position and the front intersection position according to the topological relation of the navigation map.
Optionally, the lane changing module 30 is further configured to initiate a third lane changing instruction when no intersection node exists between the current driving position and the front intersection position;
and changing lanes according to the third lane changing instruction.
Further, to achieve the above object, the present invention also proposes a vehicle including: a memory, a processor, and a lane-change position control program stored on the memory and executable on the processor, the lane-change position control program configured to implement a lane-change position control method as described above.
Since the vehicle adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Furthermore, an embodiment of the present invention further provides a storage medium, where a lane change position control program is stored, and the lane change position control program, when executed by a processor, implements the lane change position control method as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or system in which the element is included.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be substantially or partially embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling an intelligent terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A lane change position control method, characterized by comprising:
when the distance between the current driving position and the front intersection position reaches a distance threshold value, judging whether an intersection node exists between the current driving position and the front intersection position;
when a crossing node exists between the current driving position and the front crossing position, acquiring the distance between the front crossing and the crossing node;
and comparing the distance between the front intersection and the intersection node with a target distance, and changing the lane by adopting a preset lane changing strategy according to a comparison result.
2. The lane change position control method according to claim 1, wherein before comparing the distance between the intersection ahead and the intersection node with a target distance, further comprising:
acquiring the distance between a virtual line change point close to the lane line of the front intersection and the front intersection, a lane change space reservation threshold value and the width of the intersection node;
and obtaining the target distance according to the distance between the virtual line change point and the front intersection, the lane change space reservation threshold and the width of the intersection node.
3. The lane change position control method according to claim 2, wherein obtaining a distance between a virtual-real line change point near a lane line of the front intersection and the front intersection comprises:
recognizing the lane line close to the front intersection through lane line data stored in a high-precision map to obtain the solid line information of the lane line close to the front intersection;
determining the position coordinates of each sampling point in the solid line according to the solid line information;
calculating the position coordinates of each sampling point in the solid line to obtain the length of the solid line;
and taking the length of the solid line as the distance between the change point of the virtual solid line and the front intersection.
4. The lane change position control method according to claim 1, wherein the performing lane change using a preset lane change strategy according to the comparison result comprises:
when the comparison result is that the distance between the front intersection and the intersection node is greater than or equal to the target distance, a first lane changing instruction is initiated after the front intersection passes through the intersection node;
and changing the lane according to the first lane changing instruction.
5. The lane change position control method according to claim 1, wherein the performing lane change using a preset lane change strategy according to the comparison result comprises:
when the comparison result is that the distance between the front intersection and the intersection node is smaller than the target distance, a second lane changing instruction is initiated;
and changing the lane according to the second lane changing instruction.
6. The lane change position control method according to any one of claims 1 to 5, wherein the determining whether an intersection node exists between the current driving position and a preceding intersection position includes:
judging whether the intersection node is acquired from intersection data stored in a high-precision map;
when the intersection node is not obtained from the intersection data stored in the high-precision map, a navigation map is obtained;
and judging whether an intersection node exists between the current driving position and the front intersection position according to the topological relation of the navigation map.
7. The lane change position control method according to any one of claims 1 to 5, wherein after determining whether an intersection node exists between the current driving position and the intersection position ahead, further comprising:
when no intersection node exists between the current driving position and the front intersection position, initiating a third lane changing instruction;
and changing the lane according to the third lane changing instruction.
8. A lane change position control apparatus, characterized by comprising:
the judging module is used for judging whether an intersection node exists between the current driving position and the front intersection position when the distance between the current driving position and the front intersection position reaches a distance threshold value;
the acquisition module is used for acquiring the distance between a front intersection and an intersection node when the intersection node exists between the current driving position and the front intersection;
and the lane changing module is used for comparing the distance between the front intersection and the intersection node with the target distance and changing lanes by adopting a preset lane changing strategy according to the comparison result.
9. A vehicle, characterized in that the vehicle comprises: a memory, a processor, and a lane-change position control program stored on the memory and executable on the processor, the lane-change position control program configured to implement the lane-change position control method of any of claims 1-7.
10. A storage medium having stored thereon a lane-change position control program which, when executed by a processor, implements a lane-change position control method according to any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210710591.6A CN115092140A (en) | 2022-06-22 | 2022-06-22 | Lane change position control method, lane change position control device, vehicle, and storage medium |
| PCT/CN2022/119436 WO2023245887A1 (en) | 2022-06-22 | 2022-09-16 | Lane-changing position control method and apparatus, and vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210710591.6A CN115092140A (en) | 2022-06-22 | 2022-06-22 | Lane change position control method, lane change position control device, vehicle, and storage medium |
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| CN115092140A true CN115092140A (en) | 2022-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210710591.6A Pending CN115092140A (en) | 2022-06-22 | 2022-06-22 | Lane change position control method, lane change position control device, vehicle, and storage medium |
Country Status (2)
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| CN (1) | CN115092140A (en) |
| WO (1) | WO2023245887A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011099815A (en) * | 2009-11-09 | 2011-05-19 | Clarion Co Ltd | Navigation system and traffic lane guide method |
| WO2019088012A1 (en) * | 2017-11-06 | 2019-05-09 | アイシン・エィ・ダブリュ株式会社 | Lane guidance system and lane guidance program |
| CN112798003B (en) * | 2020-12-30 | 2023-03-21 | 腾讯科技（深圳）有限公司 | Navigation prompt information generation method, prompting method, device and equipment |
| CN112874503B (en) * | 2021-01-11 | 2022-01-28 | 广东科学技术职业学院 | Method and device for controlling unmanned vehicle and unmanned vehicle |
| CN114194193B (en) * | 2021-01-11 | 2023-06-27 | 广东科学技术职业学院 | Method for controlling lane change of vehicle |
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