CN115139896A

CN115139896A - Lane changing method and device for automatic driving automobile, vehicle and storage medium

Info

Publication number: CN115139896A
Application number: CN202210885750.6A
Authority: CN
Inventors: 陈欣笛
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-07-26
Filing date: 2022-07-26
Publication date: 2022-10-04

Abstract

The application relates to a lane changing method, a lane changing device, a vehicle and a storage medium for an automatic driving automobile, wherein the method comprises the following steps: detecting whether the automatic driving automobile is in a night driving working condition or not; receiving a lane change request of the automatic driving automobile when the automatic driving automobile is detected to be in a night driving working condition; and after the automatic driving automobile is controlled to switch lanes by the preset lane switching strategy, controlling the automatic driving automobile to trigger an automobile carrying light to flicker for a preset number of times based on a preset frequency matched with the current surrounding driving environment of the automatic driving automobile until the automatic driving automobile carries out overtaking action after the lane switching is finished. The embodiment of the application can control the vehicle to automatically change the lane, and after the lane is changed, the corresponding vehicle lamp flashing strategy is matched based on the current surrounding driving environment, the overtaking reminding of the front vehicle is realized, so that the overtaking success rate under the night driving working condition is improved, the overtaking driving safety is improved, and the driving safety is effectively guaranteed.

Description

Lane changing method and device for automatic driving automobile, vehicle and storage medium

Technical Field

The application relates to the technical field of intelligent driving, in particular to a lane changing method and device for an automatic driving automobile, a vehicle and a storage medium.

Background

With the rapid development of the automatic driving technology, some automobile enterprises can realize the automatic lane changing function of the automobile triggered by the driver toggling the steering switch based on millimeter wave radar, a high-definition camera and the like carried on the automobile. In the current social development environment, the lateral movement of most of the running automobiles in daily traffic is controlled by the driver, and the automobiles are not kept running in the middle of a lane through an auxiliary driving function. Especially, under the long-time working condition of traveling at night, the driver is difficult to guarantee that the automobile is neutral because of factors such as fatigue and poor sight, and is difficult to perceive the overtaking of the rear automobile, so that in the overtaking process, two automobiles still possibly have the risk of too close distance, and safety accidents are easily caused. In addition, when a driver drives at night, due to poor sight, before preparing to overtake, it is often difficult to judge whether the automobile completes lane change, and after the lane change is completed, the driver may forget to warn the front automobile, so that two automobiles collide with each other.

The lane change of the automobile can be assisted in the related technology, but the overtaking warning after lane change is not involved, so that the front automobile cannot predict the dynamic state of the rear automobile, great potential safety hazard exists when the rear automobile overtakes, and improvement is needed urgently.

Disclosure of Invention

The application provides a lane changing method and device for an automatic driving automobile, a vehicle and a storage medium, which are used for solving the technical problem that warning information cannot be sent to a front automobile when the lane changing of the automobile is finished in the related technology, so that a rear automobile has great potential safety hazards during overtaking.

The embodiment of the first aspect of the application provides a lane changing method for an automatic driving automobile, which comprises the following steps: detecting whether the automatic driving automobile is in a night driving working condition or not; when the automatic driving automobile is detected to be in the night driving working condition, receiving a lane changing request of the automatic driving automobile; and controlling the automatic driving automobile to trigger an automobile carrying light to flicker for a preset number of times based on a preset frequency matched with the current surrounding driving environment of the automatic driving automobile after the automatic driving automobile finishes lane changing by a preset lane changing strategy until the automatic driving automobile executes overtaking action after the lane changing.

According to the technical means, when the automobile runs at night, after the automobile automatically changes lanes, based on the difference of the current surrounding driving environments of the automatically-driven automobile, the automobile lamps flicker according to different strategies, the overtaking reminding of the front automobile is achieved, the strengthening of the reminding effect is achieved through strong light contrast, the situation that the intention of the rear automobile is difficultly perceived due to factors such as fatigue and poor night sight of a driver of the front automobile is avoided, the situation that the driver forgets to overtake reminding after the automobile changes lanes can also be avoided, and the accident that the automobile collides with the rear automobile is caused.

Optionally, in an embodiment of the present application, before controlling the autonomous driving vehicle to trigger the vehicle-mounted light lamp to blink for the preset number of times based on a preset frequency matched with a current surrounding driving environment of the autonomous driving vehicle, the method further includes: identifying a current surrounding driving environment of the autonomous vehicle; and generating a target lane changing action of the automatic driving automobile and matching the preset frequency and the preset times according to the current surrounding driving environment and the preset lane changing strategy.

According to the technical means, the lane change can be carried out according to the surrounding traffic environment, the situation that the driver cannot recognize surrounding automobiles and lanes under the condition of poor sight at night is avoided, the success rate of lane change is improved, the flicker strategy of corresponding vehicle-mounted vehicle lights is matched according to different environments, and the applicability of the embodiment of the application can be effectively improved.

Optionally, in an embodiment of the present application, the generating a target lane change action of the autonomous vehicle and matching the preset frequency and the preset number of times according to the current surrounding driving environment and the preset lane change policy includes: when the current surrounding driving environment is a driving environment at night on a sunny day, the preset frequency is a first frequency and the preset times are first times; when the current surrounding driving environment is a working condition of driving in foggy nights, the preset frequency is a second frequency and the preset times are second times, wherein the second frequency is higher than the first frequency, and the second times are larger than the first times.

According to the technical means, the embodiment of the application can carry out the flash of the vehicle lamps based on the difference of the current peripheral driving environment of the automatic driving vehicle, the overtaking reminding of the front vehicle is realized, different weather changes are responded through frequency change, and the front vehicle can accurately receive the overtaking reminding under the environment with lower visibility, so that the overtaking safety is improved.

Optionally, in an embodiment of the present application, the controlling the auto-steering vehicle to trigger the vehicle-mounted light lamp to flash for a preset number of times based on a preset frequency matched with a current surrounding driving environment of the auto-steering vehicle includes: detecting an actual distance between the autonomous vehicle and a preceding vehicle; and correcting the preset frequency and the preset times according to the actual distance, and controlling the automatic driving automobile to trigger the automobile carrying light to flicker the corrected preset times based on the corrected preset frequency.

According to the technical means, the distance forecasting method and the distance forecasting device can carry out corresponding distance forecasting by adjusting the flicker frequency based on the distance between the front automobile and the front automobile, so that the distance of the automatic driving automobile can be estimated by the front automobile according to the flicker frequency, and the driving safety is guaranteed.

Optionally, in an embodiment of the present application, the identifying a current surrounding driving environment of the autonomous vehicle includes: detecting the actual illuminance of the environment where the automatic driving automobile is located; and/or identifying the sign line information, the front automobile information and the obstacle information of the current lane of the automatic driving automobile; and/or calculating the distance and the relative speed between the front automobile and the automobile; and obtaining the current surrounding driving environment according to the actual illuminance, the sign line information, the front automobile information, the obstacle information and/or the distance and the relative speed.

According to the technical means, all required information can be acquired, and more targeted lane changing and overtaking reminding can be achieved, so that the overtaking success rate is increased, and the driving safety of the automobile is improved.

Optionally, in an embodiment of the present application, before controlling the lane change of the autonomous vehicle, the method further includes: judging whether the current surrounding driving environment meets a preset safe lane changing condition or not; and if the preset safe lane changing condition is met, allowing the automatic driving automobile to change lanes, otherwise forbidding lane changing until the preset safe lane changing condition is met.

According to the technical means, the traffic accident caused by repeated attempts of lane changing of the vehicle can be avoided, and the lane changing safety is improved, so that the driving experience of a driver is improved.

The embodiment of the second aspect of the application provides a lane changing method and device for an automatic driving automobile, comprising the following steps: the detection module is used for detecting whether the automatic driving automobile is in a night driving working condition or not; the receiving module is used for receiving a lane changing request of the automatic driving automobile when the automatic driving automobile is detected to be in the night driving working condition; and the control module is used for controlling the automatic driving automobile to switch lanes after the automatic driving automobile is switched with a preset lane switching strategy, and controlling the automatic driving automobile to trigger the automobile carrying light to flicker for a preset number of times based on a preset frequency matched with the current peripheral driving environment of the automatic driving automobile until the automatic driving automobile executes overtaking action after the lane switching is finished.

Optionally, in an embodiment of the present application, the control module further includes: an identification unit for identifying a current surrounding driving environment of the autonomous vehicle; and the generating unit is used for generating a target lane changing action of the automatic driving automobile and matching the preset frequency and the preset times according to the current surrounding driving environment and the preset lane changing strategy.

Optionally, in an embodiment of the present application, the generating unit is further configured to, when the current surrounding driving environment is a driving environment at night and on a sunny day, set the preset frequency to be a first frequency and set the preset number of times to be a first number of times; when the current surrounding driving environment is a working condition of driving in foggy nights, the preset frequency is a second frequency and the preset times are second times, wherein the second frequency is higher than the first frequency, and the second times are larger than the first times.

Optionally, in an embodiment of the present application, the first control module includes: a detection unit for detecting an actual distance between the autonomous vehicle and a preceding vehicle; and the control unit is used for correcting the preset frequency and the preset times according to the actual distance and controlling the automatic driving automobile to trigger the automobile carrying light lamp to flicker the corrected preset times based on the corrected preset frequency.

Optionally, in an embodiment of the present application, the identification unit is further configured to detect an actual illuminance of an environment in which the autonomous vehicle is located; and/or identifying the sign line information, the front automobile information and the obstacle information of the current lane of the automatic driving automobile; and/or calculating the distance and the relative speed between the front automobile and the automobile; and obtaining the current surrounding driving environment according to the actual illuminance, the sign line information, the front automobile information, the obstacle information and/or the distance and the relative speed.

Optionally, in an embodiment of the present application, the method further includes: the judging module is used for judging whether the current surrounding driving environment meets a preset safe lane changing condition or not before controlling the automatic driving automobile to change lanes; and the second control module is used for allowing the automatic driving vehicle to change the lane when the preset safe lane changing condition is met, or forbidding the lane changing until the preset safe lane changing condition is met.

An embodiment of a third aspect of the present application provides a vehicle, comprising: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the lane changing method of the automatic driving automobile according to the embodiment.

A fourth aspect of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the lane-changing method of an autonomous automobile as above.

The beneficial effects of the embodiment of the application are as follows:

(1) According to the embodiment of the application, the overtaking reminding can be carried out on the front automobile after the automobile is changed when the automobile is driven at night by flashing the automobile lamp, and the reminding effect is enhanced through light comparison of different frequencies, so that the overtaking success rate and the driving safety are increased;

(2) According to the method and the device, a corresponding lane changing strategy can be formulated according to the surrounding traffic condition and the environmental condition, so that the lane changing success rate is increased while the condition that a driver cannot judge whether lane changing is successful or not due to the environment and the traffic factors is avoided;

(3) According to the embodiment of the application, the corresponding vehicle lamp flashing strategy can be formulated according to the surrounding traffic conditions and the environment conditions, so that overtaking warning of the front vehicle under different scenes is achieved, and the applicability is wider.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart of a lane change method for an autonomous vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating a lane change method of an autonomous vehicle in accordance with one embodiment of the present application;

FIG. 3 is a flow chart of a lane change method for an autonomous vehicle according to one embodiment of the present application;

FIG. 4 is a schematic diagram illustrating an application scenario of a lane change method for an autonomous vehicle according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a lane-changing device of an autonomous vehicle according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Wherein, 10-the lane changing device of the automatic driving automobile; 100-detection module, 200-receiving module, 300-first control module.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

A lane change method, a lane change apparatus, a vehicle, and a storage medium of an autonomous vehicle according to an embodiment of the present application are described below with reference to the accompanying drawings. The method comprises the steps of controlling the automobile to change lanes by a preset lane changing strategy under the night driving working condition, and reminding the front automobile based on the current peripheral driving matching corresponding automobile lamp warning strategy, so that the overtaking success rate under the night driving working condition is improved, and the overtaking driving safety is improved. Therefore, the technical problem that warning information cannot be sent to a front automobile when the automobile lane change is finished, and a rear automobile has great potential safety hazards when overtaking is carried out is solved.

Specifically, fig. 1 is a schematic flow chart of a lane changing method for an automatically driven vehicle according to an embodiment of the present disclosure.

As shown in fig. 1, the lane change method of the automatic driving automobile comprises the following steps:

in step S101, it is detected whether the autonomous vehicle is in a night driving mode.

In the actual implementation process, this application embodiment can detect whether the autopilot is in the operating mode of traveling night based on perception equipment and car networking, for example, this application embodiment can catch the outside scene of car through the camera, and then judge whether current operating mode is the operating mode of traveling night, this application embodiment can also obtain the time information in current place area, weather information etc. through the car networking, further verify the scene that the camera acquireed, thereby avoid the wrong judgement that single detection mode caused, like the condition that the car travels in long tunnel, only rely on the camera can't accurately judge whether current car is in the operating mode of traveling night.

In step S102, a lane change request of the autonomous vehicle is received when it is detected that the autonomous vehicle is in a night driving condition.

Furthermore, the lane changing request of the automatic driving automobile can be received when the automatic driving automobile is detected to be in the night driving working condition, and a foundation is laid for the subsequent overtaking of the automobile.

In step S103, after the auto-driven vehicle is controlled to switch lanes by the preset lane switching policy, the auto-driven vehicle is controlled to trigger the vehicle light to flash for a preset number of times at a preset frequency based on the current surrounding driving environment of the auto-driven vehicle until the auto-driven vehicle performs the overtaking operation after the lane switching.

Specifically, the lane change of the automatic driving automobile can be controlled by a preset lane change strategy, so that the lane change of the automobile is finished under the condition that whether the automobile can be safely changed or not is difficult to distinguish by a driver, the automobile is triggered by controlling the automatic driving automobile, the automatic driving automobile flashes for the preset times at the preset frequency based on the difference of the current surrounding driving environment until the automatic driving automobile performs the overtaking action after the lane change, the overtaking reminding of the front automobile is realized, the factors such as poor visual field caused by fatigue or weather factors of the driver of the front automobile are avoided, the rear automobile is caused to chase into the rear due to sudden transverse driving under the condition that the driver is difficult to observe the rear from a rearview mirror, and the safety of the overtaking of the automobile is improved.

In addition, this application embodiment can also obtain the communication information of peripheral car through the car networking to when preparing to overtake, send corresponding information to the communication equipment of preceding car, and combine the car light scintillation to warn, thereby improve the overtake success rate of car.

Optionally, in an embodiment of the present application, before controlling the auto-driving vehicle to trigger the vehicle lighting lamp to flicker for a preset number of times based on a preset frequency matched with a current surrounding driving environment of the auto-driving vehicle, the method further includes: identifying a current surrounding driving environment of the autonomous vehicle; and generating a target lane changing action of the automatic driving automobile and matching preset frequency and preset times according to the current surrounding driving environment and a preset lane changing strategy.

In the actual execution process, the current peripheral driving environment of the automatic driving automobile can be identified, the target lane changing action of the automatic driving automobile is generated according to the current peripheral driving environment and the preset lane changing strategy, the success rate of automobile lane changing is improved, the safety of automobile lane changing is improved, a driver does not need to confirm whether vehicles exist in a lane changing target lane or not, and the driver does not need to forcibly separate lane lines under the condition of poor sight line.

Optionally, in an embodiment of the present application, generating a target lane change action of the autonomous vehicle and matching a preset frequency and a preset number of times according to the current surrounding driving environment and a preset lane change policy includes: when the current surrounding driving environment is a driving environment at night on a sunny day, presetting a first frequency as the preset frequency and presetting a first frequency as the preset times; when the current surrounding driving environment is a working condition of driving in foggy nights, the preset frequency is a second frequency and the preset times are second times, wherein the second frequency is higher than the first frequency, and the second times are larger than the first times.

In the actual implementation process, the peripheral driving environment of the automatically-driven automobile can be detected through the sensing equipment, for example, the camera senses the external light intensity and judges whether the current night and night visibility is available; judging whether the device is in rainy days or foggy days with low visibility by combining the starting states of the windscreen wipers, the far-reaching lamps and other devices; and (4) judging the weather state of the current environment and the like through network weather forecast by combining the Internet of vehicles and real-time positioning.

For example, when the current surrounding driving environment is a driving environment at night on a sunny day, the preset frequency may be a first frequency and the preset number of times may be the first number of times, for example, the frequency of the flashing of the vehicle lamp may be 10 flashing times with a period of 2 s;

when the current surrounding driving environment is the working condition of driving at night in foggy days, the preset frequency is the second frequency and the preset times is the second times, the vehicle lamp can select the high beam with penetrability and uses 1s as the continuous flicker of the period until the overtaking of the vehicle is finished.

The second frequency is higher than the first frequency, and the second frequency is greater than the first frequency, so that the overtaking early warning information of the automatic driving automobile can be accurately acquired by the front automobile under the condition that the visual field environment is poor.

It should be noted that the preset frequency and the preset number may be set by a person skilled in the art according to practical situations, and are not limited in particular.

Optionally, in an embodiment of the application, controlling the autonomous vehicle to trigger the vehicle mounted light to blink for a preset number of times based on a preset frequency matched with a current surrounding driving environment of the autonomous vehicle includes: detecting an actual distance between the autonomous vehicle and a preceding vehicle; and correcting the preset frequency and the preset times according to the actual distance, and controlling the automatic driving automobile to trigger the automobile carrying light lamp to flicker the corrected preset times based on the corrected preset frequency.

As a possible implementation manner, the embodiment of the present application may further change the flashing frequency and the flashing number of the lamp according to the distance between the automobile and the front automobile, for example, when the automobile is far away from the front automobile, the flashing may be performed at intervals of 2s, and when the automobile gradually approaches the front automobile, the duration of the flashing interval is gradually shortened, so that the driver of the front automobile can estimate the distance between the rear automobile, thereby improving the safety.

In addition to the above situations, in order to avoid redundancy, the rest night driving conditions of the vehicle are not elaborated herein, and the specific flashing frequency may be set by those skilled in the art according to the actual possible conditions.

To sum up, this application embodiment can carry out corresponding distance forenotice through adjusting the scintillation frequency based on with the distance of front truck for the front truck can be according to the scintillation frequency, estimates the distance of autopilot car, thereby guarantees driving safety.

Optionally, in one embodiment of the present application, identifying a current surrounding driving environment of the autonomous vehicle includes: detecting the actual illuminance of the environment where the automatic driving automobile is located; and/or identifying the sign line information, the front automobile information and the obstacle information of the current lane of the automatic driving automobile; and/or calculating the distance and the relative speed between the front automobile and the automobile; and obtaining the current surrounding driving environment according to the actual illuminance, the sign line information, the front automobile information, the obstacle information and/or the distance and the relative speed.

For example, the embodiment of the application can identify the illumination level outside the vehicle through the forward camera, identify the current lane marking line information where the vehicle is located, the front vehicle and the obstacle condition through the forward camera, send the current lane marking line information to the driving area controller, detect and calculate the distance and the relative speed between the front vehicle and the vehicle through the forward millimeter wave radar, and identify the left front, the right front, the left rear, the right rear vehicle and the obstacle condition of the vehicle through the left front angle radar, the right front angle radar, the left rear angle radar and the right rear angle radar, so as to obtain the current surrounding driving environment.

Optionally, in an embodiment of the present application, before controlling the autonomous vehicle to change lanes, the method further includes: judging whether the current surrounding driving environment meets a preset safe lane changing condition or not; and if the preset safe lane changing condition is met, allowing the automatic driving automobile to change the lane, otherwise forbidding the lane changing until the preset safe lane changing condition is met.

In the actual execution process, the lane change safety of the automobile can be ensured by judging whether the current surrounding driving environment meets the preset safe lane change condition, so that the influence on the normal driving of the automobile behind due to the fact that the automobile tries lane change for many times is avoided.

Specifically, with reference to fig. 2 to 4, the working principle of the lane changing method of the autonomous vehicle according to the embodiment of the present application is described in detail with an embodiment.

Referring to fig. 2 and fig. 3, an embodiment of the present application may include the following steps, where fig. 2 is a schematic diagram of the embodiment of the present application.

Step S301: a surrounding driving environment is identified. According to the embodiment of the application, the illumination level outside the vehicle can be identified through the forward camera, and the current illumination level is sent to the driving area controller; identifying the current lane marking line information of the automobile, the front vehicle and the obstacle condition through a forward camera, and sending the information to a driving area controller; detecting the distance and the relative speed between the front automobile and the automobile through a forward millimeter wave radar, and sending information to a driving area controller; the conditions of the left front, the right front, the left rear, the right rear and the obstacles of the automobile are identified through the left front angle radar, the right front angle radar, the left rear angle radar and the right rear angle radar, and the information is sent to the driving area controller.

Step S302: and completing lane changing. The driver can toggle the steering rod on the combined switch, and the left steering/right steering request is sent to the vehicle body controller. The vehicle body controller sends a left steering/right steering request signal to the driving domain controller; the driving area controller determines whether or not the lane change in the left direction/the right direction is possible, based on information on the lane position, the distance to the vehicle ahead, the obstacle information around the vehicle, the illuminance, and the like, which are transmitted from the sensors. Meanwhile, the driving area controller also judges whether the current headlamp state is the dipped headlight state or not according to the distance information of the front vehicle. After judging that lane change is possible, sending a lane change request to an EPS (electric power steering system), sending acceleration/deceleration information to an EMS (engine management system), and starting lane change; the forward camera recognizes that the lane has changed and sends information to the driving area controller.

Step S303: flashing lights and overtaking after lane changing. When the current light state is judged to be the dipped headlight state and the information that the lane change is completed is received, the driving area controller can send the information that the lane change of the automobile is completed to the automobile body controller through the gateway; the vehicle body controller controls the front high beam to flicker; and the driving domain controller sends an acceleration request to an engine control system EMS, so that the automobile accelerates to complete overtaking.

Fig. 4 is a schematic view of an application scenario according to an embodiment of the present application.

According to the lane changing method of the automatic driving automobile, the automobile can be controlled to change lanes by a preset lane changing strategy under the working condition of driving at night, and the front automobile is reminded based on the current surrounding driving matched with the corresponding car light warning strategy, so that the overtaking success rate under the working condition of driving at night is improved, and the overtaking driving safety is improved. Therefore, the technical problem that warning information cannot be sent to a front automobile when the automobile lane change is finished, and a rear automobile has great potential safety hazards when overtaking is carried out is solved.

Next, a lane-changing device of an autonomous vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 5 is a block diagram illustrating a lane-changing device of an autonomous vehicle according to an embodiment of the present application.

As shown in fig. 5, the lane-changing device 10 of the autonomous vehicle includes: a detection module 100, a receiving module 200 and a first control module 300.

Specifically, the detecting module 100 is configured to detect whether the autonomous vehicle is in a night driving condition.

The receiving module 200 is configured to receive a lane change request of an autonomous vehicle when it is detected that the autonomous vehicle is in a night driving condition.

The first control module 300 is configured to control the autonomous vehicle to trigger the vehicle-mounted light to flash for a preset number of times at a preset frequency matched based on a current surrounding driving environment of the autonomous vehicle after the lane change of the autonomous vehicle is completed according to a preset lane change strategy until the autonomous vehicle performs a passing action after the lane change.

Optionally, in an embodiment of the present application, the control module 300 further includes: the device comprises an identification unit and a generation unit.

The recognition unit is used for recognizing the current surrounding driving environment of the automatic driving automobile.

And the generation unit is used for generating a target lane changing action of the automatic driving automobile and matching preset frequency and preset times according to the current surrounding driving environment and a preset lane changing strategy.

Optionally, in an embodiment of the application, the generating unit is further configured to, when the current surrounding driving environment is a driving environment at night on a sunny day, preset the frequency as a first frequency and preset the number of times as a first number of times; when the current surrounding driving environment is the driving condition in the foggy night, the preset frequency is a second frequency and the preset times are second times, wherein the second frequency is higher than the first frequency, and the second times are larger than the first times.

Optionally, in an embodiment of the present application, the first control module 300 includes: a detection unit and a control unit.

The detection unit is used for detecting the actual distance between the automatic driving automobile and the front vehicle.

And the control unit is used for correcting the preset frequency and the preset times according to the actual distance and controlling the automatic driving automobile to trigger the automobile light of the automobile so as to flicker the corrected preset times based on the corrected preset frequency.

Optionally, in an embodiment of the present application, the lane-changing device 10 of the autonomous vehicle further includes: the device comprises a judgment module and a second control module.

The judgment module is used for judging whether the current surrounding driving environment meets the preset safe lane changing condition or not before controlling the automatic driving automobile to change lanes.

And the second control module is used for allowing the automatic driving vehicle to change the lane when the preset safe lane changing condition is met, and forbidding the lane changing until the preset safe lane changing condition is met.

It should be noted that the explanation of the embodiment of the lane changing method for the automatically driven vehicle is also applicable to the lane changing device for the automatically driven vehicle of the embodiment, and is not repeated herein.

According to the lane changing device of the automatic driving automobile, the lane can be changed by controlling the automobile according to the preset lane changing strategy under the driving working condition at night, and the front automobile is reminded based on the current surrounding driving and matching the corresponding automobile lamp warning strategy, so that the overtaking success rate under the driving working condition at night is improved, and the overtaking driving safety is improved. Therefore, the technical problem that warning information cannot be sent to a front automobile when the automobile lane change is finished, and a rear automobile has great potential safety hazards when overtaking is carried out is solved.

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

The processor 602, when executing the program, implements the lane change method for the autonomous vehicle provided in the above embodiments.

Further, the vehicle further includes:

a communication interface 603 for communicating between the memory 601 and the processor 602.

The memory 601 is used for storing computer programs that can be run on the processor 602.

Memory 601 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.

Alternatively, in practical implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may complete communication with each other through an internal interface.

The processor 602 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the lane change method of an autonomous vehicle as described above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.

Claims

1. A lane changing method of an automatic driving automobile is characterized by comprising the following steps:

detecting whether the automatic driving automobile is in a night driving working condition or not;

receiving a lane change request of the automatic driving automobile when the automatic driving automobile is detected to be in the night driving working condition; and

and after the automatic driving automobile is controlled to switch lanes by a preset lane switching strategy, controlling the automatic driving automobile to trigger an automobile carrying light to flicker for a preset number of times based on a preset frequency matched with the current surrounding driving environment of the automatic driving automobile until the automatic driving automobile executes overtaking actions after the lane switching is finished.

2. The method of claim 1, further comprising, prior to controlling the autonomous vehicle to trigger the vehicle mounted lights to flash the preset number of times based on the preset frequency of the current ambient driving environment match of the autonomous vehicle:

identifying a current surrounding driving environment of the autonomous vehicle;

and generating a target lane changing action of the automatic driving automobile and matching the preset frequency and the preset times according to the current surrounding driving environment and the preset lane changing strategy.

3. The method of claim 2, wherein the generating a target lane change action of the autonomous vehicle and matching the preset frequency and the preset number of times according to the current surrounding driving environment and the preset lane change strategy comprises:

when the current surrounding driving environment is a driving environment at night on a sunny day, the preset frequency is a first frequency and the preset times are first times;

when the current surrounding driving environment is a working condition of driving in foggy nights, the preset frequency is a second frequency and the preset times are second times, wherein the second frequency is higher than the first frequency, and the second times are larger than the first times.

4. The method of claim 1, wherein the controlling the autonomous vehicle to trigger vehicle lights to flash a preset number of times based on a preset frequency of the current ambient driving environment of the autonomous vehicle comprises:

detecting an actual distance between the autonomous vehicle and a preceding vehicle;

and correcting the preset frequency and the preset times according to the actual distance, and controlling the automatic driving automobile to trigger the automobile carrying light lamp to flicker the corrected preset times based on the corrected preset frequency.

5. The method of claim 2, wherein the identifying a current surrounding driving environment of the autonomous vehicle comprises:

detecting actual illuminance of an environment in which the autonomous vehicle is located;

and/or identifying sign line information, front vehicle information and obstacle information of a current lane of the autonomous vehicle;

and/or calculating the distance and the relative speed between the front vehicle and the host vehicle;

and obtaining the current surrounding driving environment according to the actual illuminance, the sign line information, the front vehicle information, the obstacle information and/or the distance and the relative speed.

6. The method of claim 2 or 3, further comprising, prior to controlling the autonomous vehicle to change lanes:

judging whether the current surrounding driving environment meets a preset safe lane changing condition or not; and if the preset safe lane changing condition is met, allowing the automatic driving vehicle to change the lane, otherwise forbidding the lane changing until the preset safe lane changing condition is met.

7. A lane-changing device of an automatic driving automobile is characterized by comprising:

the detection module is used for detecting whether the automatic driving automobile is in a night driving working condition or not;

the receiving module is used for receiving a lane changing request of the automatic driving automobile when the automatic driving automobile is detected to be in the night driving working condition; and

the first control module is used for controlling the automatic driving automobile to switch lanes after the automatic driving automobile is switched with a preset lane switching strategy, and controlling the automatic driving automobile to trigger the automobile carrying light to flicker for preset times based on preset frequency matched with the current peripheral driving environment of the automatic driving automobile until the automatic driving automobile executes overtaking action after the lane switching is finished.

8. The apparatus of claim 7, wherein the control module further comprises:

an identification unit for identifying a current surrounding driving environment of the autonomous vehicle;

and the generating unit is used for generating a target lane changing action of the automatic driving automobile and matching the preset frequency and the preset times according to the current surrounding driving environment and the preset lane changing strategy.

9. The apparatus according to claim 8, wherein the generating unit is further configured to, when the current surrounding driving environment is a driving environment at night on a sunny day, set the preset frequency to be a first frequency and set the preset number of times to be a first number of times; when the current surrounding driving environment is a working condition of driving in foggy nights, the preset frequency is a second frequency and the preset times are second times, wherein the second frequency is higher than the first frequency, and the second times are larger than the first times.

10. The apparatus of claim 7, wherein the first control module comprises:

a detection unit for detecting an actual distance between the autonomous vehicle and a preceding vehicle;

and the control unit is used for correcting the preset frequency and the preset times according to the actual distance and controlling the automatic driving automobile to trigger the automobile carrying light lamp to flicker the corrected preset times based on the corrected preset frequency.