CN115489530A - Lane changing method and device for vehicle, vehicle and storage medium - Google Patents

Lane changing method and device for vehicle, vehicle and storage medium Download PDF

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Publication number
CN115489530A
CN115489530A CN202211292639.2A CN202211292639A CN115489530A CN 115489530 A CN115489530 A CN 115489530A CN 202211292639 A CN202211292639 A CN 202211292639A CN 115489530 A CN115489530 A CN 115489530A
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Prior art keywords
vehicle
lane
changing
acceleration
distance
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李典和
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Priority to CN202211292639.2A priority Critical patent/CN115489530A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4023—Type large-size vehicles, e.g. trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to the technical field of intelligent driving, in particular to a lane changing method and device for a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: identifying whether a vehicle is present on each adjacent lane; if the adjacent lanes have the front vehicle and/or the rear vehicle, calculating a first lane change safe distance between the vehicle and the front vehicle and a second lane change safe distance between the vehicle and the rear vehicle according to the vehicle information of the vehicle, the vehicle information of the front vehicle and the vehicle information of the rear vehicle; if the actual longitudinal distance between the vehicle and the front vehicle is smaller than the first lane changing safety distance, or the actual longitudinal distance between the vehicle and the rear vehicle is smaller than the second lane changing safety distance, judging that the adjacent lanes do not meet lane changing conditions, otherwise, recommending one or more lane changing target lanes, and controlling the vehicle to change lanes to the target lanes when recognizing the lane changing intention of the user. Therefore, the problems that in the related art, the vehicle only sends lane changing reminding at a special road condition, the flexibility is poor, potential safety hazards exist, the user experience is poor and the like are solved.

Description

Lane changing method and device for vehicle, vehicle and storage medium
Technical Field
The present application relates to the field of intelligent driving technologies, and in particular, to a lane changing method and apparatus for a vehicle, and a storage medium.
Background
With the continuous development of vehicle technologies, intelligent driving technologies are widely applied, for example, in an automatic cruise mode, when a vehicle is in the automatic cruise mode, a lane change reminder is usually sent out to remind a user of changing lanes when the vehicle encounters a specific road scene such as a ramp exit, a high-speed lane division position or a current lane death position of a highway main road.
However, in the related art, lane change reminding is only performed when the vehicle is in a specific road environment, the application scene is single, the lane change requirements of users in different scenes cannot be met, and the use experience of the users is greatly reduced.
Disclosure of Invention
The application provides a lane changing method and device for a vehicle, the vehicle and a storage medium, and aims to solve the problems that in the related art, only when the vehicle is in a specific road environment, lane changing reminding can be performed, different lane changing requirements of users cannot be met, user experience is poor and the like.
An embodiment of a first aspect of the present application provides a lane changing method for a vehicle, including the following steps: identifying whether a vehicle is present on each adjacent lane; if a front vehicle and/or a rear vehicle exists on the adjacent lane, calculating a first lane change safe distance between the vehicle and the front vehicle and a second lane change safe distance between the vehicle and the rear vehicle according to vehicle information of the vehicle, the vehicle information of the front vehicle and the vehicle information of the rear vehicle; if the actual longitudinal distance between the vehicle and the front vehicle is smaller than the first lane change safety distance, or the actual longitudinal distance between the vehicle and the rear vehicle is smaller than the second lane change safety distance, judging that adjacent lanes do not meet lane change conditions, otherwise, recommending one or more lane change target lanes, and controlling the vehicle to change lanes to the target lanes when recognizing the lane change intention of the user.
According to the technical means, the lane capable of being changed can be automatically recommended according to surrounding vehicles and road conditions, and whether the lane is changed or not is determined according to the intention of the user, so that the lane changing method and the lane changing device can be suitable for multiple lane changing scenes in the daily driving process of the user, meet different lane changing requirements of the user, and improve the use experience of the user. Therefore, the problems that in the related art, the vehicle only sends a lane change prompt in a special road environment, the flexibility is poor, potential safety hazards exist, the user experience is poor and the like are solved.
Optionally, in an embodiment of the present application, the vehicle information includes a vehicle speed and a vehicle acceleration, and the vehicle information includes a vehicle speed and a vehicle acceleration.
According to the technical means, the speed and the acceleration of the vehicle, the front vehicle and the rear vehicle can be obtained through some vehicle-mounted devices, so that information support is provided for safe lane changing, the accuracy of the safe distance of lane changing is guaranteed, and the safety of lane changing is guaranteed.
Optionally, in an embodiment of the application, the calculating a first lane-change safe distance between the host vehicle and a second lane-change safe distance between the host vehicle and the host vehicle according to the host vehicle information, and the host vehicle information includes: matching the lane change demand time and the safety time of the vehicle according to the vehicle speed and the vehicle acceleration; calculating the first lane change safety distance according to the vehicle speed, the vehicle acceleration, the front vehicle speed, the front vehicle acceleration, the demand time and the safety time; and calculating the second lane-changing safety distance according to the vehicle speed, the vehicle acceleration, the rear vehicle speed, the rear vehicle acceleration, the demand time and the safety time.
According to the technical means, the lane changing method and the lane changing device can match the required time and the safe time of lane changing according to the speeds and the accelerations of the vehicle, the front vehicle and the rear vehicle, and then obtain two lane changing safe distances through calculation to prepare for subsequent lane changing, so that the safety risk of blind lane changing is avoided, and the lane changing safety of the vehicle is guaranteed.
Optionally, in an embodiment of the present application, before recommending one or more lane-changeable target lanes, the method further includes: acquiring the road curvature, the road environment, the lane line type and the position of a vehicle of a road where the vehicle is located; judging whether the road curvature, the road environment, the lane line type and the position of the vehicle meet corresponding recommendation conditions; if so, recommending one or more lane-changing target lanes, and otherwise, judging that the vehicle does not meet the lane-changing condition.
According to the technical means, the embodiment of the application can determine whether the road curvature, the road environment, the lane line type and the position of the vehicle meet the lane changing condition or not before comparing whether all the lane changing safety distances meet the lane changing condition or not, and if not, the vehicle can be directly judged not to be safely changed, so that the vehicle lane changing danger caused by the road live condition is avoided, the lane changing safety of the vehicle is improved, and the safety and good driving experience of a driver are ensured.
An embodiment of a second aspect of the present application provides a lane changing device for a vehicle, including: the identification module is used for identifying whether a vehicle exists on each adjacent lane; the calculation module is used for calculating a first lane change safe distance between the vehicle and the front vehicle and a second lane change safe distance between the vehicle and the rear vehicle according to vehicle information of the vehicle, the vehicle information of the front vehicle and the vehicle information of the rear vehicle if the front vehicle and/or the rear vehicle exists on the adjacent lane; and the recommending module is used for judging that the adjacent lanes do not meet lane changing conditions if the actual longitudinal distance between the vehicle and the front vehicle is smaller than the first lane changing safety distance or the actual longitudinal distance between the vehicle and the rear vehicle is smaller than the second lane changing safety distance, otherwise, recommending one or more lane changing target lanes, and controlling the vehicle to change lanes to the target lanes when the lane changing intention of the user is recognized.
Optionally, in the first embodiment of the present application, the vehicle information includes a vehicle speed and a vehicle acceleration, and the vehicle information includes a vehicle speed and a vehicle acceleration.
Optionally, in an embodiment of the present application, the calculation module is further configured to: matching the lane change demand time and the safety time of the vehicle according to the vehicle speed and the vehicle acceleration; calculating the first lane change safety distance according to the vehicle speed, the vehicle acceleration, the front vehicle speed, the front vehicle acceleration, the demand time and the safety time; and calculating the second lane change safety distance according to the vehicle speed, the vehicle acceleration, the rear vehicle speed, the rear vehicle acceleration, the demand time and the safety time.
Optionally, in an embodiment of the present application, the lane changing device of the vehicle further includes: the judging module is used for acquiring the road curvature, the road environment, the lane line type and the position of the vehicle of the road where the vehicle is located before recommending one or more lane-changeable target lanes; judging whether the road curvature, the road environment, the lane line type and the position of the vehicle meet corresponding recommendation conditions; if so, recommending one or more lane-changing target lanes, and otherwise, judging that the vehicle does not meet the lane-changing condition.
An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the lane changing method of the vehicle as described in the above embodiments.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor to implement the lane changing method for a vehicle as described in the foregoing embodiments.
Therefore, the application has at least the following beneficial effects:
1. the lane changing method and the lane changing system can automatically recommend the lane which can be changed according to surrounding vehicles and road conditions, and determine whether to change the lane according to the intention of the user, so that the lane changing method and the lane changing system can be suitable for multiple lane changing scenes in the daily driving process of the user, meet different lane changing requirements of the user, and improve the use experience of the user. Therefore, the problems that in the related art, the vehicle only sends lane changing reminding in a special road environment, the flexibility is poor, potential safety hazards exist, the user experience is poor and the like are solved.
2. According to the lane changing method and the lane changing device, the speed and the acceleration of the vehicle, the front vehicle and the rear vehicle can be obtained through some vehicle-mounted equipment, so that information support is provided for safe lane changing, the accuracy of the lane changing safety distance is guaranteed, and the lane changing safety is guaranteed.
3. According to the lane changing method and the lane changing device, the required time and the safe time for lane changing can be matched according to the speed and the acceleration of the vehicle, the front vehicle and the rear vehicle, the two lane changing safe distances are obtained through calculation, preparation is made for subsequent lane changing, the safety risk of blind lane changing is avoided, and the lane changing safety of the vehicle is guaranteed.
4. According to the lane changing method and the lane changing device, before comparing whether all lane changing safety distances meet the lane changing conditions, whether the road curvature, the road environment, the lane line type and the positions where vehicles are located meet the lane changing conditions or not is determined, if not, the vehicles can be directly judged not to be safely changed, therefore, the situation that the vehicles are changed lanes to cause dangers due to road conditions is avoided, the lane changing safety of the vehicles is improved, and the safety and good driving experience of drivers are guaranteed.
Therefore, the problems that in the related art, the vehicle only sends a lane change prompt in a special road environment, the flexibility is poor, potential safety hazards exist, the user experience is poor and the like are solved.
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 flow chart of a lane change method for a vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating an overall relationship between lane changes for a vehicle according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating a method for determining road information according to an embodiment of the present disclosure;
FIG. 4 is a flow chart illustrating a method for determining vehicle information according to an embodiment of the present application;
FIG. 5 is an exemplary diagram of a lane-changing device of a 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.
Description of the reference numerals: identification module-100, calculation module-200, recommendation module-300, memory-601, processor-602, communication interface-603.
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 and apparatus for a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the accompanying drawings. In view of the above-mentioned problems of the background art, the present application provides a lane change method of a vehicle, in which, by recognizing whether a vehicle exists on each adjacent lane, if a front vehicle and/or a rear vehicle exists on the adjacent lane, a first lane change safety distance between the host vehicle and the front vehicle and a second lane change safety distance between the host vehicle and the rear vehicle are calculated based on host vehicle information, front vehicle information, and rear vehicle information, and if an actual longitudinal distance between the host vehicle and the front vehicle is smaller than the first lane change safety distance or the actual longitudinal distance between the host vehicle and the rear vehicle is smaller than the second lane change safety distance, it is determined that the adjacent lane change condition is not satisfied, otherwise, one or more target lane-changeable lanes are recommended, and the vehicle is controlled to change lanes to the target lane upon recognizing a lane change intention of a user. Therefore, the problems that in the related art, the vehicle only sends a lane change prompt in a special road environment, the flexibility is poor, potential safety hazards exist, the user experience is poor and the like are solved.
Specifically, fig. 1 is a schematic flow chart of a lane changing method for a vehicle according to an embodiment of the present disclosure.
As shown in fig. 1, the lane change method of the vehicle includes the steps of:
in step S101, it is identified whether a vehicle is present on each adjacent lane.
The lane identification method includes that a plurality of vehicle modes are available, such as direct observation through a vehicle rearview mirror and a windshield, and human-computer interaction can be performed through a vehicle-mounted GPS, a vehicle-mounted camera and a central control display screen to determine whether a vehicle exists on the lane, and the like.
It can be understood that the user can monitor through direct observation or vehicle-mounted equipment to obtain whether vehicles exist on each adjacent lane, if no vehicles exist, whether the road condition meets the lane change condition can be directly considered, so that the lane change is carried out, the condition that vehicles exist on the lanes are avoided being considered, and the lane change time is saved.
In step S102, if there is a front vehicle and/or a rear vehicle on the adjacent lane, a first lane change safe distance between the host vehicle and the front vehicle and a second lane change safe distance between the host vehicle and the rear vehicle are calculated based on the host vehicle information, the front vehicle information, and the rear vehicle information.
The lane change safety distance may be an actual longitudinal safety distance between the vehicle and a front vehicle/a rear vehicle on an adjacent lane, the first lane change safety distance is an actual longitudinal safety distance between the vehicle and the front vehicle, and the second lane change safety distance is an actual longitudinal safety distance between the vehicle and the rear vehicle.
It can be understood that if vehicles exist on adjacent lanes, all lane-changing safe distances are calculated by using vehicle information, so that preparation is made for subsequent lane changing of vehicles, and the lane-changing safety of the vehicles is guaranteed.
Optionally, in one embodiment of the present application, the vehicle information includes a vehicle speed and an acceleration of the vehicle, and the vehicle information includes a vehicle speed and an acceleration of the vehicle.
It can be understood that the vehicle speed and the acceleration of the vehicle, the front vehicle and the rear vehicle can be obtained through some vehicle-mounted devices, so that information support is provided for safe lane changing, the accuracy of the safe distance of lane changing is guaranteed, and the safety of lane changing is guaranteed.
Optionally, in an embodiment of the present application, calculating a first lane-change safe distance between the host vehicle and a second lane-change safe distance between the host vehicle and the host vehicle according to the host vehicle information, and calculating a second lane-change safe distance between the host vehicle and the host vehicle according to the host vehicle information, the method includes: matching the lane change demand time and the safety time of the vehicle according to the vehicle speed and the vehicle acceleration; calculating a first lane changing safety distance according to the vehicle speed, the vehicle acceleration, the vehicle speed of the front vehicle, the vehicle acceleration of the front vehicle, the demand time and the safety time; and calculating a second lane-changing safety distance according to the vehicle speed, the vehicle acceleration, the rear vehicle speed, the rear vehicle acceleration, the demand time and the safety time.
The required time is the time required for completing the whole lane changing process of the vehicle, and the safe time is all the time capable of completing the lane changing of the vehicle.
It can be understood that in the embodiment of the application, the required time and the safe time for lane changing can be matched according to the speed and the acceleration of the vehicle, the front vehicle and the rear vehicle, and then two lane changing safe distances are obtained through calculation to prepare for subsequent lane changing, so that the safety risk of blind lane changing is avoided, and the lane changing safety of the vehicle is ensured.
In step S103, if the actual longitudinal distance between the host vehicle and the preceding vehicle is less than the first lane change safety distance, or the actual longitudinal distance between the host vehicle and the following vehicle is less than the second lane change safety distance, it is determined that the adjacent lanes do not satisfy the lane change condition, otherwise, one or more lane change target lanes are recommended, and the vehicle is controlled to change lanes to the target lanes when the lane change intention of the user is recognized.
The target lane can be one or more adjacent lanes meeting lane change conditions, and is determined according to actual conditions.
It can be understood that whether safe lane changing is carried out or not is judged by comparing whether all lane changing safe distances meet the lane changing conditions or not, and if yes, the system can control the vehicle to change the lane to the target lane according to the lane changing intention of the user. Therefore, the problems that in the related art, the vehicle only sends a lane change prompt in a special road environment, the flexibility is poor, potential safety hazards exist, the user experience is poor and the like are solved.
Optionally, in an embodiment of the present application, before recommending one or more lane-changeable target lanes, the method further includes: acquiring the road curvature, the road environment, the lane line type and the position of a vehicle of a road where the vehicle is located; judging whether the road curvature, the road environment, the lane line type and the position of the vehicle meet corresponding recommendation conditions; if so, recommending one or more lane-changing target lanes, and otherwise, judging that the vehicle does not meet the lane-changing condition.
The road curvature is the degree of curvature of the road, and when the road curvature is too large, the vehicle is easy to change the road and send danger, so the vehicle is not suitable to change the road.
It can be understood that, in the embodiment of the application, before comparing whether all lane change safe distances meet the lane change condition, whether the road curvature, the road environment, the lane line type and the position of the vehicle meet the lane change condition is determined, if not, the vehicle can be directly judged not to be safely changed, so that the danger caused by the lane change of the vehicle due to the road condition is avoided, the lane change safety of the vehicle is improved, and the safety and good driving experience of a driver are ensured.
According to the lane changing method for the vehicle, whether the vehicle exists on each adjacent lane or not is recognized, if the vehicle exists on the adjacent lane, a first lane changing safety distance between the vehicle and the front vehicle and a second lane changing safety distance between the vehicle and the rear vehicle are calculated according to the vehicle information of the vehicle, the vehicle information of the front vehicle and the vehicle information of the rear vehicle, if the actual longitudinal distance between the vehicle and the front vehicle is smaller than the first lane changing safety distance, or the actual longitudinal distance between the vehicle and the rear vehicle is smaller than the second lane changing safety distance, the adjacent lane is judged not to meet lane changing conditions, otherwise, one or more lane changing target lanes are recommended, and when the lane changing intention of a user is recognized, the vehicle is controlled to change to the target lane. Therefore, the problems that in the related art, the vehicle only sends a lane change prompt in a special road environment, the flexibility is poor, potential safety hazards exist, the user experience is poor and the like are solved.
The lane changing method of the vehicle is further described in detail by the specific embodiment, as shown in fig. 2, specifically as follows:
step 1, firstly, collecting road information to judge whether a lane can be changed, as shown in fig. 3, specifically including:
1.1, when changing lanes, the main limitations of the lane change for the road are the curvature of the road, the environment, the type of lane line and the location of the vehicle. Wherein, the first and the second end of the pipe are connected with each other,
(1) With respect to road curvature, lane changes are dangerous when the road curvature is too great, and therefore lane changes are not recommended at this time, and this criterion may be evaluated, here designated as α, and lane changes are not recommended when the road curvature is greater than α and recommended when the road curvature is less than α.
(2) The determination of the environment usually requires a map to be installed for determination, and when the environment is on a special road, such as a ramp entrance, a high-speed toll station entrance, etc. In the navigation mode, if the route planning needs to pass through the special scenes, the judgment condition is changed to YES, that is, the recommended lane changing can be carried out, otherwise, the recommended lane changing cannot be carried out when the route planning does not need to pass through the special scenes.
(3) The road information includes lane line types and related lane line types, in the embodiment of the present application, a dashed solid line is taken as an example, and other special lane lines may be added to the two determination conditions, which is not specifically limited. The lane change is not allowed under the conditions of a solid line (a camera needs to be mounted, the type of the lane line of the road ahead is grabbed, whether the solid line passes through the lane change process or not is predicted), and the like, so that the lane change is judged not to be recommended at the moment, and the lane change can be recommended under the conditions of a dotted line and the like.
(4) Taking the right-recommended lane change as an example, when the vehicle is located in the rightmost lane at present, the right-recommended lane change is not performed any more, and the lane change is judged not to be recommended at the moment, otherwise, the right-recommended lane change can be performed by the lane line.
1.2, the four conditions are in an 'and' relationship, and if any one of the conditions is not met, the recommended lane change is not carried out.
Step 2, secondly, judging whether a lane change condition is met according to vehicle information, wherein the vehicle information mainly judges front vehicles on two sides, rear vehicles and the state of the vehicle, and the embodiment of the application takes recommending lane change to the right as an example, as shown in fig. 4, and specifically comprises:
when no vehicle is in front of the right side and no vehicle is in the rear, the lane change to the right side can be recommended; when vehicles are in front, if two vehicles are in the workshopDistance y 1 Satisfy the requirement of
Figure BDA0003900895610000071
(where v is the speed of the vehicle and v is 1 The speed of the right front vehicle, a the acceleration of the vehicle, a 1 Is the right-side forward vehicle acceleration, t 1 Time required for lane change, T ttc Set safe time), a lane change to the right can be recommended; also when there is an incoming car at the rear, if the distance y between the two cars is too long 2 Satisfy the requirements of
Figure BDA0003900895610000072
(v 2 Is the right side forward vehicle speed, a 2 Is the right-side forward vehicle acceleration, t 2 Time required for lane change, T s For a set safe time) a lane change to the right may also be recommended. When there is a car in the front of the right side and a car comes in the rear, only y is needed 1 And y 2 And if the conditions are met, the lane change can be recommended to the right.
And 3, when two large conditions of the step 1 and the step 2 are met, sending a lane change prompt by the interactive system, determining whether to change the lane or not by a driver according to needs, automatically changing the lane by the vehicle when the driver selects the lane change, and finishing the complete intelligent lane change after the lane change is finished.
Therefore, the problems that in the related art, the vehicle only sends lane changing reminding in a special road environment, the flexibility is poor, potential safety hazards exist, the user experience is poor and the like are solved.
Next, a lane-changing device of a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 5 is a schematic block diagram of a lane changing device of a vehicle according to an embodiment of the present disclosure.
As shown in fig. 5, the lane changing device 10 of the vehicle includes: identification module 100, calculation module 200, recommendation module 300.
The identification module 100 is used for identifying whether a vehicle exists on each adjacent lane; a calculating module 200, configured to calculate, if a front vehicle and/or a rear vehicle exists on an adjacent lane, a first lane change safe distance between the front vehicle and the rear vehicle and a second lane change safe distance between the rear vehicle and the front vehicle according to vehicle information of the vehicle, the vehicle information of the front vehicle and the vehicle information of the rear vehicle; the recommending module 300 is configured to determine that the adjacent lanes do not meet the lane changing condition if the actual longitudinal distance between the host vehicle and the front vehicle is smaller than the first lane changing safety distance or the actual longitudinal distance between the host vehicle and the rear vehicle is smaller than the second lane changing safety distance, otherwise, recommend one or more lane changing target lanes, and control the vehicle to change lanes to the target lanes when the lane changing intention of the user is identified.
In one embodiment of the present application, the vehicle information includes a vehicle speed and a vehicle acceleration, the preceding vehicle information includes a preceding vehicle speed and a preceding vehicle acceleration, and the following vehicle information includes a following vehicle speed and a following vehicle acceleration.
In one embodiment of the present application, the calculation module 200 is further configured to: matching the lane change demand time and the safety time of the vehicle according to the vehicle speed and the vehicle acceleration; calculating a first lane changing safety distance according to the vehicle speed, the vehicle acceleration, the vehicle speed of the front vehicle, the vehicle acceleration of the front vehicle, the demand time and the safety time; and calculating a second lane change safety distance according to the vehicle speed, the vehicle acceleration, the rear vehicle speed, the rear vehicle acceleration, the demand time and the safety time.
In one embodiment of the present application, the lane-changing device 10 of the vehicle further includes: and a judging module.
The judging module is used for acquiring the road curvature, the road environment, the lane line type and the position of a vehicle of a road where the vehicle is located before recommending one or more lane-changeable target lanes; judging whether the road curvature, the road environment, the lane line type and the position of the vehicle meet corresponding recommendation conditions; if so, recommending one or more lane-changing target lanes, and otherwise, judging that the vehicle does not meet the lane-changing condition.
It should be noted that the explanation of the embodiment of the lane changing method for a vehicle is also applicable to the lane changing device for a vehicle in this embodiment, and is not repeated herein.
According to the lane changing device for the vehicle, whether the vehicle exists on each adjacent lane or not is recognized, if the vehicle exists on the adjacent lane, a first lane changing safety distance between the vehicle and the front vehicle and a second lane changing safety distance between the vehicle and the rear vehicle are calculated according to the vehicle information of the vehicle, the vehicle information of the front vehicle and the vehicle information of the rear vehicle, if the actual longitudinal distance between the vehicle and the front vehicle is smaller than the first lane changing safety distance, or the actual longitudinal distance between the vehicle and the rear vehicle is smaller than the second lane changing safety distance, the adjacent lane is judged not to meet lane changing conditions, otherwise, one or more lane changing target lanes are recommended, and when the lane changing intention of a user is recognized, the vehicle is controlled to change to the target lane. Therefore, the problems that in the related art, the vehicle only sends a lane change prompt in a special road environment, the flexibility is poor, potential safety hazards exist, the user experience is poor and the like are solved.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 601, processor 602, and computer programs stored on memory 601 and executable on processor 602.
The processor 602, when executing the program, implements the lane change method for the vehicle provided in the above embodiments.
Further, the vehicle further includes:
a communication interface 603 for communication 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.
The Memory 601 may include a high-speed RAM (Random Access Memory) Memory, and may also include a 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 ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) 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.
Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated into a chip, the memory 601, the processor 602, and the communication interface 603 may complete mutual communication 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.
Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the lane changing method of the vehicle as 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
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 implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the 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 implementing the embodiments of the present application.
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, a field programmable gate array, 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 that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (10)

1. A lane change method for a vehicle, comprising the steps of:
identifying whether a vehicle is present on each adjacent lane;
if a front vehicle and/or a rear vehicle exists on the adjacent lane, calculating a first lane changing safe distance between the vehicle and the front vehicle and a second lane changing safe distance between the vehicle and the rear vehicle according to vehicle information of the vehicle, the vehicle information of the front vehicle and the vehicle information of the rear vehicle;
if the actual longitudinal distance between the vehicle and the front vehicle is smaller than the first lane change safety distance, or the actual longitudinal distance between the vehicle and the rear vehicle is smaller than the second lane change safety distance, judging that adjacent lanes do not meet lane change conditions, otherwise, recommending one or more lane change target lanes, and controlling the vehicle to change lanes to the target lanes when recognizing the lane change intention of the user.
2. The method of claim 1, wherein the vehicle information includes a host vehicle speed and a host vehicle acceleration, the front vehicle information includes a front vehicle speed and a front vehicle acceleration, and the rear vehicle information includes a rear vehicle speed and a rear vehicle acceleration.
3. The method of claim 2, wherein calculating a first lane change safe distance between the host vehicle and the front vehicle and a second lane change safe distance between the host vehicle and the rear vehicle based on host vehicle information, front vehicle information, and rear vehicle information comprises:
matching the lane change demand time and the safety time of the vehicle according to the vehicle speed and the vehicle acceleration;
calculating the first lane change safety distance according to the vehicle speed, the vehicle acceleration, the front vehicle speed, the front vehicle acceleration, the demand time and the safety time;
and calculating the second lane-changing safety distance according to the vehicle speed, the vehicle acceleration, the rear vehicle speed, the rear vehicle acceleration, the demand time and the safety time.
4. The method of claim 1, further comprising, prior to recommending one or more lane-changing target lanes:
acquiring the road curvature, the road environment, the lane line type and the position of a vehicle of a road where the vehicle is located;
judging whether the road curvature, the road environment, the lane line type and the position of the vehicle meet corresponding recommendation conditions;
if so, recommending one or more lane-changing target lanes, and otherwise, judging that the vehicle does not meet the lane-changing condition.
5. A lane-changing device for a vehicle, comprising:
the identification module is used for identifying whether a vehicle exists on each adjacent lane;
the calculation module is used for calculating a first lane changing safe distance between the vehicle and the front vehicle and a second lane changing safe distance between the vehicle and the rear vehicle according to vehicle information of the vehicle, the vehicle information of the front vehicle and the vehicle information of the rear vehicle if the front vehicle and/or the rear vehicle exists on the adjacent lane;
and the recommending module is used for judging that the adjacent lanes do not meet lane changing conditions if the actual longitudinal distance between the vehicle and the front vehicle is smaller than the first lane changing safety distance or the actual longitudinal distance between the vehicle and the rear vehicle is smaller than the second lane changing safety distance, otherwise, recommending one or more lane changing target lanes, and controlling the vehicle to change the lanes to the target lanes when recognizing the lane changing intention of the user.
6. The apparatus according to claim 5, wherein the vehicle information includes a vehicle speed and a vehicle acceleration, the preceding vehicle information includes a preceding vehicle speed and a preceding vehicle acceleration, and the following vehicle information includes a following vehicle speed and a following vehicle acceleration.
7. The apparatus of claim 6, wherein the computing module is further configured to:
matching the lane changing demand time and the safety time of the vehicle according to the vehicle speed and the vehicle acceleration;
calculating the first lane change safety distance according to the vehicle speed, the vehicle acceleration, the front vehicle speed, the front vehicle acceleration, the demand time and the safety time;
and calculating the second lane change safety distance according to the vehicle speed, the vehicle acceleration, the rear vehicle speed, the rear vehicle acceleration, the demand time and the safety time.
8. The apparatus of claim 5, further comprising:
the judging module is used for acquiring the road curvature, the road environment, the lane line type and the position of the vehicle of the road where the vehicle is located before recommending one or more lane-changeable target lanes; judging whether the road curvature, the road environment, the lane line type and the position of the vehicle meet corresponding recommendation conditions; if so, recommending one or more lane-changing target lanes, and otherwise, judging that the vehicle does not meet the lane-changing condition.
9. A vehicle, characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor executing the program to implement the lane change method of a vehicle according to any of claims 1-4.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a lane change method of a vehicle according to any one of claims 1 to 4.
CN202211292639.2A 2022-10-20 2022-10-20 Lane changing method and device for vehicle, vehicle and storage medium Pending CN115489530A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116674553A (en) * 2023-06-27 2023-09-01 广州小鹏自动驾驶科技有限公司 Channel change control method, device, terminal equipment and storage medium
CN118072553A (en) * 2024-04-17 2024-05-24 福建警察学院 Intelligent traffic safety management and control system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116674553A (en) * 2023-06-27 2023-09-01 广州小鹏自动驾驶科技有限公司 Channel change control method, device, terminal equipment and storage medium
CN116674553B (en) * 2023-06-27 2024-04-16 广州小鹏自动驾驶科技有限公司 Channel change control method, device, terminal equipment and storage medium
CN118072553A (en) * 2024-04-17 2024-05-24 福建警察学院 Intelligent traffic safety management and control system

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