CN115402321A

CN115402321A - Lane change strategy determination method, system, electronic equipment and storage medium

Info

Publication number: CN115402321A
Application number: CN202211216157.9A
Authority: CN
Inventors: 刘一荻; 杨东方; 汪哲文; 魏伟
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2022-11-29

Abstract

The method comprises the steps of obtaining a longitudinal distance between a front stop line and a vehicle to be controlled, recommending a longitudinal distance between an optimal lane changing position and the vehicle to be controlled and a driving state of the vehicle to be controlled, wherein the driving state comprises a lane changing state, the lane changing state comprises a lane changing middle state and a lane changing non-state, if the lane changing state is a lane changing non-state, determining a lane changing mode according to the longitudinal distance between the front stop line and the vehicle to be controlled, the longitudinal distance between the optimal lane changing position and the vehicle to be controlled, a preset first distance threshold value and a preset second distance threshold value, and determining a lane changing strategy according to the lane changing mode.

Description

Lane changing strategy determining method, system, electronic equipment and storage medium

Technical Field

The application relates to the technical field of intelligent control, in particular to a lane change strategy determination method, a lane change strategy determination system, electronic equipment and a storage medium.

Background

Lane change, one of the common behaviors in vehicle driving behavior, is one of the main research contents in the field of automatic driving. The lane change process is generally divided into two steps of generating lane change intention and finding lane change time, wherein the generation of the lane change intention can have a plurality of different triggering modes.

In the related art, there are a lane change intention which is first generated when a vehicle needs to travel to a specified lane in front of an intersection or a ramp according to a traffic rule based on map navigation, and a lane change intention which is second generated due to dissatisfaction with a current travel flow rate or avoidance of a low-speed obstacle ahead. However, the above method is generally a single lane change method optimized for a certain lane change mode, but in an actual application scenario, especially in an urban area complex condition application, different lane change intentions in multiple trigger modes may be encountered.

In summary, there is a need for a lane change strategy determination method that can perform priority processing on different lane change situations according to real-time conditions to ensure reasonable and orderly driving behaviors of vehicles.

Disclosure of Invention

In view of the above drawbacks of the prior art, the present invention provides a lane-changing strategy determining method, system, electronic device and storage medium, so as to perform priority processing on different lane-changing situations according to a real-time situation, thereby ensuring reasonable and orderly driving behaviors of a vehicle.

The application provides a lane change strategy determination method, which comprises the following steps:

acquiring a longitudinal distance between a front stop line and a vehicle to be controlled, a longitudinal distance between a recommended lane-changing optimal position and the vehicle to be controlled and a driving state of the vehicle to be controlled, wherein the driving state comprises a lane-changing state, and the lane-changing state comprises a lane-changing middle state and a lane-not-changing state;

if the lane changing state is not lane changing, determining a lane changing mode according to the longitudinal distance between the front stop line and the vehicle to be controlled, the longitudinal distance between the recommended lane changing optimal position and the vehicle to be controlled, a preset first distance threshold value and a preset second distance threshold value, wherein the lane changing mode comprises a preset first lane changing mode and a preset second lane changing mode;

and determining a lane changing strategy of the vehicle to be controlled according to the lane changing mode.

In an exemplary embodiment of the present application, determining a lane change mode according to a longitudinal distance between the front stop line and the vehicle to be controlled, a longitudinal distance between the recommended optimal lane change position and the vehicle to be controlled, a preset first distance threshold and a preset second distance threshold includes:

if the longitudinal distance between the front stop line and the vehicle to be controlled is greater than a preset first distance threshold value, and the longitudinal distance between the recommended lane changing optimal position and the vehicle to be controlled is smaller than a preset second distance threshold value, determining a preset first lane changing mode as a lane changing mode of the vehicle to be controlled, wherein the preset second distance threshold value is greater than the preset first distance threshold value;

and if the longitudinal distance between the front stop line and the vehicle to be controlled is greater than a preset first distance threshold value, and the longitudinal distance between the recommended lane changing optimal position and the vehicle to be controlled is greater than or equal to a preset second distance threshold value, determining a preset second lane changing mode as the lane changing mode of the vehicle to be controlled.

In an exemplary embodiment of the present application, determining a lane change strategy of a vehicle to be controlled according to the lane change mode includes:

if the lane change mode is a preset first lane change mode, acquiring the expected steering state of the vehicle to be controlled at the current intersection, the environment image information of the vehicle to be controlled and the position information of the vehicle to be controlled;

determining a matching state between a lane where a vehicle to be controlled is located and the expected steering state, a target lane and a first target vehicle according to the environment image information and the position information, wherein the matching state comprises matching and mismatching, and the first target vehicle is located in an adjacent lane of the vehicle to be controlled;

and determining a lane changing mode according to the matching state.

In an exemplary embodiment of the present application, determining a lane change manner according to the matching status includes:

if the matching state is not matched, acquiring a first predicted running track of the first target vehicle in a first preset time period;

and if the first predicted driving track is out of the range of the first preset area, determining the target lane as a lane to be changed of the vehicle to be controlled.

In an exemplary embodiment of the application, determining a lane change strategy of a vehicle to be controlled according to the lane change mode comprises:

if the lane change mode is the preset second lane change mode, the method includes:

obtaining environmental image information of a vehicle to be controlled and the speed of the vehicle to be controlled;

determining a front key vehicle, a second target vehicle, a distance between a vehicle to be controlled and the front key vehicle and a longitudinal distance between the vehicle to be controlled and the second target vehicle according to the environment image information, wherein the front key vehicle and the vehicle to be controlled are positioned in the same lane, and the second target vehicle is positioned in an adjacent lane of the vehicle to be controlled;

acquiring the front key vehicle speed of the front key vehicle;

and determining a lane changing mode according to the distance between the vehicle to be controlled and the front key vehicle, the speed of the vehicle to be controlled and the speed of a second target vehicle.

In an exemplary embodiment of the application, determining a lane change mode according to a distance between the vehicle to be controlled and the front key vehicle, a vehicle speed of the vehicle to be controlled and a second target vehicle speed includes:

determining a time distance according to the distance between the vehicle to be controlled and the target vehicle and the speed of the vehicle to be controlled;

and determining a lane changing mode according to the time interval.

In an exemplary embodiment of the present application, determining a lane change mode according to the time interval includes:

if the time interval is greater than a preset time interval threshold value and the speed of the front key vehicle is less than a preset first speed threshold value, acquiring a second predicted running track of the front key vehicle in a second preset time period, a third predicted running track of a left second target vehicle in a third preset time period and a fourth predicted running track of a right second target vehicle in a fourth preset time period;

if the second predicted driving track is out of the range of the second preset area and the third predicted driving track is not in the range of the third preset area, determining a lane adjacent to the left side of the vehicle to be controlled as a lane to be changed of the vehicle to be controlled;

and if the second predicted driving track is out of the range of the second preset area, the third predicted driving track is in the range of the third preset area, and the fourth predicted driving track is not in the range of the fourth preset area, determining the adjacent lane on the right side of the vehicle to be controlled as the lane to be changed of the vehicle to be controlled.

In an exemplary embodiment of the present application, determining a lane change mode according to the time interval further includes:

if the time interval is smaller than or equal to a preset time interval threshold value and the speed of the front key vehicle is smaller than a preset second speed threshold value, acquiring a second predicted running track of the front key vehicle in a second preset time period, a third predicted running track of a left second target vehicle in a third preset time period and a fourth predicted running track of a right second target vehicle in a fourth preset time period, wherein the preset second speed threshold value is larger than the preset first speed threshold value;

In a second aspect, the present application provides a lane-change policy determination system, including:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a longitudinal distance between a front stop line and a vehicle to be controlled, a longitudinal distance between a recommended lane change optimal position and the vehicle to be controlled and a driving state of the vehicle to be controlled, the driving state comprises a lane change state, and the lane change state comprises a lane change state and a lane non-change state;

the lane changing strategy determining module is used for determining a lane changing mode according to the longitudinal distance between the front stop line and the vehicle to be controlled, the longitudinal distance between the recommended lane changing optimal position and the vehicle to be controlled, a preset first distance threshold value and a preset second distance threshold value if the lane changing state is the lane changing state, wherein the lane changing mode comprises a preset first lane changing mode and a preset second lane changing mode;

and the lane change strategy determining module is used for determining a lane change strategy of the vehicle to be controlled according to the lane change mode.

In another aspect, the present application provides an electronic device comprising:

one or more processors;

a storage device to store one or more programs that, when executed by the one or more processors, cause the electronic device to implement a lane-change policy determination method as described above.

In yet another aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the lane-change policy determination method as described above.

The invention has the beneficial effects that:

according to the method and the device, the environmental image information is combined with the perception dynamic environmental information, the first lane changing mode, the second lane changing mode generated based on dissatisfaction with the dynamic flow speed and the conversion logic of different lane changing modes are set, and reasonable lane changing behaviors are generated according to real-time environmental conditions.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a flow chart illustrating a lane-change policy determination method according to an exemplary embodiment of the present application;

fig. 2 is a flowchart of an exemplary embodiment of determining a lane-change mode according to a longitudinal distance between the front stop line and the vehicle to be controlled, a longitudinal distance between the recommended optimal lane-change position and the vehicle to be controlled, a preset first distance threshold and a preset second distance threshold in step S120 in the embodiment shown in fig. 1;

FIG. 3 is a flowchart of the determination of a lane-change strategy for a vehicle to be controlled based on a lane-change pattern in step S130 in the embodiment of FIG. 1 in an exemplary embodiment;

FIG. 4 is a flowchart in an exemplary embodiment of determining a lane change based on a match status in step S330 in the embodiment shown in FIG. 3;

FIG. 5 is a flowchart of determining a lane-change strategy for a vehicle to be controlled according to a lane-change pattern in step S130 in the embodiment shown in FIG. 1 in another exemplary embodiment;

FIG. 6 is a flowchart illustrating an exemplary embodiment of determining a lane-change pattern based on a distance between a vehicle to be controlled and the front key vehicle, a vehicle speed of the vehicle to be controlled, and a second target vehicle speed in step S540 of the embodiment of FIG. 5;

FIG. 7 is a flowchart of the determination of lane-change based on time interval in step S620 in the embodiment of FIG. 6 in an exemplary embodiment;

FIG. 8 is a flowchart of the determination of lane-change based on time interval in step S620 in the embodiment of FIG. 6 in another exemplary embodiment;

FIG. 9 is a general flow diagram illustrating a lane-change policy determination method in accordance with one embodiment;

FIG. 10 is a diagram illustrating a method for determining a mode of a vehicle to be controlled in a lane-change method according to an exemplary embodiment;

fig. 11 is a flowchart illustrating a lane change strategy in a lane change method according to an embodiment when a lane change mode is a preset first lane change mode;

fig. 12 is a flowchart illustrating a lane change strategy in the lane change method according to an embodiment when the lane change mode is the preset second lane change mode;

FIG. 13 is a block diagram of a lane-change policy determination system shown for an exemplary embodiment of the present application;

FIG. 14 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.

Detailed Description

Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, wherein the following description is made for the embodiments of the present invention with reference to the accompanying drawings and the preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, to avoid obscuring embodiments of the present invention.

Referring to fig. 1, fig. 1 is a flowchart illustrating a lane-change policy determination method according to an exemplary embodiment of the present application.

As shown in fig. 1, in an exemplary embodiment of the present application, the lane-change policy determining method at least includes step S110, step S120 and step S130, which are described in detail as follows:

s110, acquiring a longitudinal distance between a front stop line and a vehicle to be controlled, a longitudinal distance between a recommended lane changing optimal position and the vehicle to be controlled and a driving state of the vehicle to be controlled;

it should be noted that the front stop line refers to a solid white line at a traffic light intersection in front of the vehicle to be controlled. The recommended lane change optimal position refers to the recommended lane change optimal position of the navigation software.

The recommended optimal lane-changing position can be obtained through navigation software. The driving state comprises a lane changing state, and the lane changing state comprises a lane changing middle state and a lane not changing state;

s120, if the lane change state is the lane change-free state, determining a lane change mode according to the longitudinal distance between the front stop line and the vehicle to be controlled, the longitudinal distance between the recommended lane change optimal position and the vehicle to be controlled, a preset first distance threshold value and a preset second distance threshold value;

and S130, determining a lane change strategy of the vehicle to be controlled according to the lane change mode.

In the related art, there are a first-generated lane change intention for driving to a specified lane in front of an intersection or a ramp according to a traffic rule based on map navigation, and a second-generated lane change intention for being unsatisfactory with a current driving flow speed or for avoiding a low-speed obstacle ahead. The inventor analyzes the related technology and finds that the method is a single lane changing method which is optimized aiming at a certain lane changing mode, but in the practical application scene, especially in the application of complex working conditions in urban areas, different lane changing intentions in various triggering modes can be encountered, and at the moment, priority processing needs to be carried out on different lane changing situations according to the real-time situation so as to ensure the reasonable and ordered driving behaviors of the vehicle. Therefore, the inventor considers that the environmental image information is combined with the perception dynamic environmental information, the first lane changing mode and the second lane changing mode generated based on dissatisfaction with the dynamic flow rate and the conversion logic of different lane changing modes are set, and reasonable lane changing or lane keeping behaviors are generated according to real-time environmental conditions.

Referring to fig. 2, fig. 2 is a flowchart of an exemplary embodiment of determining a lane change mode according to a longitudinal distance between a front stop line and a vehicle to be controlled, a longitudinal distance between a recommended optimal lane change position and the vehicle to be controlled, a preset first distance threshold and a preset second distance threshold in step S120 in the embodiment shown in fig. 1.

As shown in fig. 2, in an exemplary embodiment of the present application, the process of determining the lane-change mode according to the longitudinal distance between the front stop line and the vehicle to be controlled, the longitudinal distance between the recommended optimal lane-change position and the vehicle to be controlled, the preset first distance threshold and the preset second distance threshold in the embodiment shown in fig. 1 includes step S210 and step S210, and the following is described in detail:

s210, if the longitudinal distance between the front stop line and the vehicle to be controlled is greater than a preset first distance threshold value, and the longitudinal distance between the recommended lane changing optimal position and the vehicle to be controlled is smaller than a preset second distance threshold value, determining a preset first lane changing mode as a lane changing mode of the vehicle to be controlled;

it should be noted that the preset second distance threshold is greater than the preset first distance threshold.

And S220, if the longitudinal distance between the front stop line and the vehicle to be controlled is larger than a preset first distance threshold value, and the longitudinal distance between the recommended lane changing optimal position and the vehicle to be controlled is larger than or equal to a preset second distance threshold value, determining a preset second lane changing mode as the lane changing mode of the vehicle to be controlled.

Referring to fig. 3, fig. 3 is a flowchart illustrating an exemplary embodiment of determining a lane change policy of a vehicle to be controlled according to a lane change mode in step S130 in the embodiment shown in fig. 1.

As shown in fig. 3, in an exemplary embodiment of the present application, the process of determining the lane change strategy of the vehicle to be controlled according to the lane change mode in step S130 in the embodiment shown in fig. 1 includes step S310, step S320 and step S330, which are described in detail as follows:

s310, if the lane change mode is a preset first lane change mode, acquiring an expected steering state of a vehicle to be controlled at a current intersection, environment image information of the vehicle to be controlled and position information of the vehicle to be controlled;

it should be noted that the desired steering state includes left turn, u-turn, right turn and straight running, and the desired steering state can be obtained through navigation software.

S320, determining a matching state between a lane where a vehicle to be controlled is located and the expected steering state, a target lane and a first target vehicle according to the environment image information and the position information;

in the present application, the matching state includes matching and mismatching, for example, if the expected steering state is a left turn, if the environment image information shows that the lane where the vehicle to be controlled is located allows the left turn, the matching state between the lane where the vehicle to be controlled is located and the expected steering state is matching.

In the application, the target lane is a lane adjacent to a lane where the vehicle to be controlled is located, for example, the expected steering state is left turn, if the environment image information shows that the lane where the vehicle to be controlled is located does not allow left turn, the target vehicle is a lane adjacent to the left side of the lane where the vehicle to be controlled is located, and the lane allows left turn.

The first target vehicle is located within the target lane, the first target vehicle including a forward vehicle, a parallel traveling vehicle, and a rearward-facing vehicle in a direction of travel.

And S330, determining a lane changing mode according to the matching state.

Referring to fig. 4, fig. 4 is a flowchart illustrating the determination of the lane change manner according to the matching status in step S330 in the embodiment shown in fig. 3 in an exemplary embodiment.

As shown in fig. 4, in an exemplary embodiment of the present application, the process of determining the lane change mode according to the matching status in the embodiment shown in fig. 3 includes step S410 and step S420, which are described in detail as follows:

s410, if the matching state is not matched, acquiring a first predicted running track of the first target vehicle in a first preset time period;

the first predetermined time period can be set by itself, and is not described herein again.

The first predicted travel trajectory may be obtained by a trajectory prediction module.

And S420, if the first predicted driving track is out of the first preset area range, determining the target lane as a lane to be changed of the vehicle to be controlled.

The lane to be changed is a lane after the lane change of the vehicle to be controlled.

For example, the first preset area range may be set as: an area formed by extending forward (front and back in a driving direction) by 50m and extending backward by 30m with the head of the vehicle to be controlled as an origin is a first preset area range. The first predetermined area range can be set by itself, and is not described herein again.

Referring to fig. 5, fig. 5 is a flowchart illustrating another exemplary embodiment of determining a lane change strategy of a vehicle to be controlled according to a lane change mode in step S130 in the embodiment shown in fig. 1.

As shown in fig. 5, in another exemplary embodiment of the present application, the process of determining the lane change strategy of the vehicle to be controlled according to the lane change mode in the embodiment shown in fig. 1 includes step S510, step S520, step S530 and step S540, which are described in detail as follows:

s510, if the lane change mode is a preset second lane change mode, acquiring environment image information of a vehicle to be controlled and the speed of the vehicle to be controlled;

s520, determining a front key vehicle, a second target vehicle, a distance between the vehicle to be controlled and the front key vehicle and a longitudinal distance between the vehicle to be controlled and the second target vehicle according to the environment image information;

it should be noted that the front key vehicle and the vehicle to be controlled are located in the same lane, the front key vehicle is the vehicle with the shortest distance to the vehicle to be controlled in the longitudinal direction, and the front key vehicle is located in front of the vehicle to be controlled.

The second target vehicle is located in an adjacent lane of the vehicle to be controlled, and includes a forward vehicle, a parallel traveling vehicle, and a backward vehicle in the traveling direction.

S530, acquiring the speed of a front key vehicle of the front key vehicle;

and S540, determining a lane changing mode according to the distance between the vehicle to be controlled and the front key vehicle, the speed of the vehicle to be controlled and the speed of a second target vehicle.

Referring to fig. 6, fig. 6 is a flowchart illustrating an exemplary embodiment of determining a lane change manner according to a distance between a vehicle to be controlled and a front key vehicle, a vehicle speed of the vehicle to be controlled, and a second target vehicle speed in step S540 of fig. 5.

As shown in fig. 6, in an exemplary embodiment of the present application, the process of determining the lane-change manner according to the distance between the vehicle to be controlled and the front key vehicle, the vehicle speed of the vehicle to be controlled, and the second target vehicle speed in step S540 in the embodiment shown in fig. 5 includes step S610 and step S620, and the following is described in detail:

s610, determining a time distance according to the distance between the vehicle to be controlled and the target vehicle and the speed of the vehicle to be controlled;

illustratively, according to the distance between the vehicle to be controlled and the target vehicle and the speed of the vehicle to be controlled, the determining manner of the time distance comprises the following steps:

HT＝S/V；

wherein HT is time interval and the unit is s; s is the distance between the vehicle to be controlled and the target vehicle, and the unit is m; v is the speed of the vehicle to be controlled and has the unit of m/s.

And S620, determining a lane changing mode according to the time interval.

Referring to fig. 7, fig. 7 is a flowchart illustrating the step S620 of fig. 6 for determining the lane change manner according to the time interval in an exemplary embodiment.

As shown in fig. 7, in an exemplary embodiment of the present application, the process of determining the lane change mode according to the time interval in the embodiment shown in fig. 6 includes step S710, step S720, and step S730, which is described in detail as follows:

step S710, if the time interval is larger than a preset time interval threshold value and the speed of the front key vehicle is smaller than a preset first speed threshold value, acquiring a second predicted running track of the front key vehicle in a second preset time period, a third predicted running track of a left second target vehicle in a third preset time period and a fourth predicted running track of a right second target vehicle in a fourth preset time period;

the preset time interval threshold and the preset first speed threshold can be set by themselves, and are not described herein again.

S720, if the second predicted running track is out of the range of the second preset area and the third predicted running track is not in the range of the third preset area, determining a lane adjacent to the left side of the vehicle to be controlled as a lane to be changed of the vehicle to be controlled;

specifically, if the second predicted driving track is outside the second preset area range and the third predicted driving track is not within the third preset area range, the adjacent lane on the left side of the controlled vehicle is determined as the lane to be changed of the controlled vehicle, that is, the lane is preferentially changed to the adjacent lane on the left side.

And S730, if the second predicted driving track is out of the range of the second preset area, the third predicted driving track is in the range of the third preset area, and the fourth predicted driving track is not in the range of the fourth preset area, determining a lane adjacent to the right side of the vehicle to be controlled as a lane to be changed of the vehicle to be controlled.

Specifically, if the second predicted driving track is outside the second preset area range, the third predicted driving track is within the third preset area range, and the fourth predicted driving track is not within the fourth preset area range, the vehicle to be controlled is controlled to change lanes to the right adjacent lane, that is, when there is a collision risk during changing lanes to the left adjacent lane, the fact that the fourth predicted driving track of the right second target vehicle within the fourth preset time period is not within the fourth preset area range indicates that there is no collision risk during changing lanes to the right adjacent lane is indicated, and at this time, the right adjacent lane of the vehicle to be controlled is determined as the lane to be changed of the vehicle to be controlled.

As shown in fig. 8, in another embodiment of the present application, the process of determining the lane change mode further includes step S810, step S820 and step S830 according to the time interval, and the following is described in detail:

step 810, if the time interval is smaller than or equal to a preset time interval threshold value and the speed of the front key vehicle is smaller than a preset second speed threshold value, acquiring a second predicted running track of the front key vehicle in a second preset time period, a third predicted running track of a left second target vehicle in a third preset time period and a fourth predicted running track of a right second target vehicle in a fourth preset time period;

it should be noted that the preset second speed threshold is greater than the preset first speed threshold.

S820, if the second predicted driving track is out of the range of the second preset area and the third predicted driving track is not in the range of the third preset area, determining a lane adjacent to the left side of the control vehicle as a lane to be changed of the control vehicle;

and S830, if the second predicted running track is out of the range of the second preset area, the third predicted running track is in the range of the third preset area, and the fourth predicted running track is not in the range of the fourth preset area, determining the adjacent lane on the right side of the control vehicle as the lane to be changed of the vehicle to be controlled.

Referring to fig. 9-12, in one embodiment, the lane change policy determination method includes the steps of:

and receiving environment image information (including navigation information), target vehicle information and vehicle information to be controlled. The environment image information comprises lane line information, map recommended guide line information, intersection stopping line position information, intersection behavior information, recommended lane changing position information, expected turning states and the like, wherein the expected turning states comprise left turning, turning around, right turning and straight going; the target vehicle information comprises the position, the speed, the property of a lane where the target vehicle is located, a predicted track and the like of the target vehicle sensed by a sensor in a certain range around the vehicle to be controlled; the information of the vehicle to be controlled includes the position, speed, heading, driving state, planned expected track and the like of the vehicle to be controlled (as shown in fig. 9), the driving state includes a lane changing state, and the lane changing state includes a lane changing state and a lane not changing state.

The method comprises the following steps of judging the applicable modes of a vehicle to be controlled under the current environment and vehicle state, specifically comprising the following three modes: the current desired track travel mode, the first lane change mode, and the second lane change mode are maintained.

If entering a lane change mode after logic judgment, generating lane change or lane keeping intention according to a lane change intention generation method in a corresponding mode, wherein the specific judgment logic is as follows: if the lane change state is not lane change, determining a lane change strategy of the vehicle to be controlled according to the longitudinal distance between the front stop line and the vehicle to be controlled and the longitudinal distance between the recommended lane change optimal position and the vehicle to be controlled,

if the longitudinal distance between the front stop line and the vehicle to be controlled is greater than a preset first distance threshold (specifically 60 m) and the longitudinal distance between the recommended lane change optimal position and the vehicle to be controlled is less than a preset second distance threshold, determining the preset first lane change mode as the lane change mode of the vehicle to be controlled (as shown in fig. 10);

if the lane change mode is a preset first lane change mode (namely a forced lane change mode), acquiring an expected steering state of the vehicle to be controlled at the current intersection through the environment image information, and determining a matching state between a lane where the vehicle to be controlled is located and the expected steering state, a target lane and a first target vehicle according to the environment image information and the position information of the vehicle to be controlled; and the matching state comprises matching and mismatching, if the expected steering state is left turn, if the environment image information shows that the lane of the vehicle to be controlled allows left turn, the matching state between the lane of the vehicle to be controlled and the expected steering state is matching. The target lane is a lane adjacent to the lane where the vehicle to be controlled is located, for example, the expected steering state is left turn, if the environment image information shows that the lane where the vehicle to be controlled is located does not allow left turn, the target vehicle is a lane adjacent to the left side of the lane where the vehicle to be controlled is located and allows lane change. The first target vehicle is located within the target lane, and the first target vehicle includes a forward vehicle, a parallel traveling vehicle, and a backward vehicle in a traveling direction.

Determining a lane changing mode according to the matching state, specifically, if the matching state is not matched, acquiring a first predicted running track of the first target vehicle within a first preset time period (specifically, 5 s); and if the first predicted driving track is outside the first preset area range, controlling the vehicle to be controlled to change the lane to the target lane. If the first predicted driving track is within the first preset area range, controlling the vehicle to be controlled to continue driving along the lane where the vehicle to be controlled is located (as shown in fig. 11). The first predetermined area range is set as: an area formed by forward (front and back by dividing the driving direction) extension of 50m and backward extension of 30m by taking the head of the vehicle to be controlled as an origin is a first preset area range.

If the longitudinal distance between the front stop line and the vehicle to be controlled is greater than a preset first distance threshold (specifically 60 m), and the longitudinal distance between the recommended lane changing optimal position and the vehicle to be controlled is greater than or equal to a preset second distance threshold (specifically 400 m), determining a preset second lane changing mode as the lane changing mode of the vehicle to be controlled;

if the lane change mode is a preset second lane change mode (namely a subjective lane change mode), acquiring environment image information of the vehicle to be controlled and the speed of the vehicle to be controlled;

determining a front key vehicle (CIPV), a second target vehicle, a distance between the vehicle to be controlled and the front key vehicle and a longitudinal distance between the vehicle to be controlled and the second target vehicle according to the environment image information; the front key vehicle and the vehicle to be controlled are located in the same lane, the front key vehicle is the vehicle with the shortest distance to the vehicle to be controlled in the longitudinal direction, and the front key vehicle is located in front of the vehicle to be controlled. The second target vehicle is located in an adjacent lane of the vehicle to be controlled, and includes a forward vehicle, a parallel vehicle, and a backward vehicle in the traveling direction.

Acquiring the front key vehicle speed of a front key vehicle;

determining a lane changing mode according to the distance between the vehicle to be controlled and the front key vehicle, the speed of the vehicle to be controlled and the speed of a second target vehicle, and specifically determining a time distance according to the distance between the vehicle to be controlled and the target vehicle and the speed of the vehicle to be controlled;

according to the distance between the vehicle to be controlled and the target vehicle and the speed of the vehicle to be controlled, the determining mode for determining the time distance comprises the following steps:

HT＝S/V；

Determining a lane changing mode according to the time interval, specifically:

if the time distance is greater than a preset time distance threshold value (specifically 4 s), and the vehicle speed of the front key vehicle is less than a preset first speed threshold value (specifically 20 km/h), acquiring a second predicted driving track of the front key vehicle in a second preset time period (specifically 5 s), a third predicted driving track of a left second target vehicle in a third preset time period (specifically 5 s) and a fourth predicted driving track of a right second target vehicle in a fourth preset time period (specifically 5 s); the second preset area range, the third preset area range and the fourth preset area range are all set as follows: the area formed by the forward (front and back in the driving direction) extension of 50m and the backward extension of 30m by taking the head of the vehicle to be controlled as an origin.

If the second predicted driving track is out of the second preset area range and the third predicted driving track is not in the third preset area range (namely, the left adjacent lane has no collision risk), determining the left adjacent lane of the control vehicle as the lane to be changed of the vehicle to be controlled, namely, preferentially changing the lane to the left adjacent lane to change the lane;

if the second predicted driving track is out of the second preset area range, the third predicted driving track is in the third preset area range (namely, the collision risk exists in the adjacent lane on the left side), and the fourth predicted driving track is not in the fourth preset area range (namely, the collision risk does not exist in the adjacent lane on the right side, and the adjacent lane on the right side of the controlled vehicle is determined as the lane to be changed of the vehicle to be controlled;

if the second predicted running track is out of the second preset area range, the third predicted running track is in the third preset area range (namely, the collision risk exists in the adjacent lane on the left side), and the fourth predicted running track is in the fourth preset area range (namely, the collision risk exists in the adjacent lane on the right side, and the vehicle to be controlled is controlled to continue running along the lane where the vehicle to be controlled is located;

if the time interval is smaller than or equal to a preset time interval threshold value and the speed of the front key vehicle is smaller than a preset second speed threshold value (specifically 40 km/h), acquiring a second predicted running track of the front key vehicle in a second preset time period, a third predicted running track of a left second target vehicle in a third preset time period and a fourth predicted running track of a right second target vehicle in a fourth preset time period;

if the second predicted driving track is out of the range of the second preset area and the third predicted driving track is not in the range of the third preset area, determining a lane adjacent to the left side of the control vehicle as a lane to be changed of the control vehicle;

if the second predicted driving track is outside the second preset area range, the third predicted driving track is within the third preset area range, and the fourth predicted driving track is not within the fourth preset area range, the adjacent lane on the right side of the control vehicle is determined as the lane to be changed of the vehicle to be controlled (as shown in fig. 12).

Referring to fig. 13, an embodiment of the present application further provides a lane-change policy determining system 1300.

As shown in fig. 13, a vehicle lane change system 1300 of the embodiment of the present application includes:

the acquisition module 1310 is used for acquiring a longitudinal distance between the front stop line and the vehicle to be controlled, a longitudinal distance between the recommended lane-changing optimal position and the vehicle to be controlled and a driving state of the vehicle to be controlled, wherein the driving state comprises a lane-changing state;

a lane-changing mode determining module 1320, configured to determine a lane-changing mode of the vehicle to be controlled according to a longitudinal distance between the front stop line and the vehicle to be controlled and a longitudinal distance between the recommended lane-changing optimal position and the vehicle to be controlled;

the lane change strategy determining module 1330 is configured to determine a lane change strategy of the vehicle to be controlled according to the lane change mode.

It should be noted that the lane change policy determining system provided in the foregoing embodiment and the lane change policy determining method provided in the foregoing embodiment belong to the same concept, and specific ways of executing operations by each module and unit have been described in detail in the method embodiment, and are not described herein again. In practical applications, the lane change policy determining system provided in the foregoing embodiment may allocate the above functions to different function modules according to needs, that is, divide the internal structure of the device into different function modules to complete all or part of the above described functions, which is not limited herein.

Embodiments of the present application further provide an electronic device, including:

one or more processors;

FIG. 14 illustrates a schematic structural diagram of a computer system suitable for use to implement the electronic device of the embodiments of the subject application. It should be noted that the computer system 1400 of the electronic device shown in fig. 14 is only an example, and should not bring any limitation to the functions and the application scope of the embodiments of the present application.

As shown in fig. 14, the computer system 1400 includes a Central Processing Unit (CPU) 1401, which can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-only Memory (ROM) 1402 or a program loaded from a storage portion 1408 into a Random Access Memory (RAM) 1403. In the RAM 1403, various programs and data necessary for system operation are also stored. The CPU 1401, ROM 1402, and RAM 1403 are connected to each other via a bus 1404. An Input/Output (I/O) interface 1405 is also connected to the bus 1404.

The following components are connected to the I/O interface 1305: an input portion 1406 including a keyboard, a mouse, and the like; an output portion 1407 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage portion 1408 including a hard disk and the like; and a communication section 1409 including a Network interface card such as a LAN (Local Area Network) card, a modem, and the like. The communication section 1409 performs communication processing via a network such as the internet. The driver 1410 is also connected to the I/O interface 1405 as necessary. A removable medium 1411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1410 as necessary, so that the computer program read out therefrom is installed into the storage section 1408 as necessary.

In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 1309 and/or installed from the removable medium 1411. When the computer program is executed by a Central Processing Unit (CPU) 1401, various functions defined in the system of the present application are executed.

It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor of a computer, causes the computer to execute the lane-change policy determination method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.

Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the lane-changing strategy determination method provided in the above embodiments.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

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

2. The lane-changing strategy determining method according to claim 1, wherein determining a lane-changing pattern according to a longitudinal distance between the front stop line and a vehicle to be controlled, a longitudinal distance between the recommended optimal lane-changing position and a vehicle to be controlled, a preset first distance threshold and a preset second distance threshold comprises:

3. The lane-change strategy determination method according to claim 1, wherein determining a lane-change strategy of a vehicle to be controlled according to the lane-change pattern comprises:

if the lane change mode is a preset first lane change mode, acquiring an expected steering state of the vehicle to be controlled at the current intersection, environment image information of the vehicle to be controlled and position information of the vehicle to be controlled;

and determining a lane changing mode according to the matching state.

4. The lane-change strategy determination method according to claim 3, wherein determining a lane-change mode according to the matching state comprises:

5. The lane-changing strategy determination method according to claim 1, wherein determining a lane-changing strategy of a vehicle to be controlled according to the lane-changing pattern comprises:

if the lane change mode is a preset second lane change mode, acquiring environment image information of the vehicle to be controlled and the speed of the vehicle to be controlled;

acquiring the front key vehicle speed of the front key vehicle;

6. The lane-changing strategy determining method according to claim 5, wherein determining a lane-changing mode according to the distance between the vehicle to be controlled and the front key vehicle, the vehicle speed of the vehicle to be controlled and the second target vehicle speed comprises:

and determining a lane changing mode according to the time interval.

7. The lane-changing strategy determining method according to claim 6, wherein determining a lane-changing mode according to the time interval comprises:

and if the second predicted driving track is out of the second preset area range, the third predicted driving track is in the third preset area range, and the fourth predicted driving track is not in the fourth preset area range, determining the adjacent lane on the right side of the vehicle to be controlled as the lane to be changed of the vehicle to be controlled.

8. The lane-changing strategy determining method according to claim 7, wherein determining a lane-changing mode according to the time interval further comprises:

9. A lane-change policy determination system, comprising:

the lane changing mode determining module is used for determining a lane changing mode according to the longitudinal distance between the front stop line and the vehicle to be controlled, the longitudinal distance between the recommended lane changing optimal position and the vehicle to be controlled, a preset first distance threshold value and a preset second distance threshold value if the lane changing state is the lane changing state, wherein the lane changing mode comprises a preset first lane changing mode and a preset second lane changing mode;

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

one or more processors;

storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the lane-change policy determination method of any of claims 1-8.

11. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the lane-change policy determination method according to any one of claims 1 to 8.