CN115631653A - Method and device for determining lane change time interval, storage medium and electronic device - Google Patents

Method and device for determining lane change time interval, storage medium and electronic device Download PDF

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Publication number
CN115631653A
CN115631653A CN202211230600.8A CN202211230600A CN115631653A CN 115631653 A CN115631653 A CN 115631653A CN 202211230600 A CN202211230600 A CN 202211230600A CN 115631653 A CN115631653 A CN 115631653A
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China
Prior art keywords
time interval
lane change
vehicle
change time
collision
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顾勇
金晓哲
李丹阳
庞云天
王隆洪
李东海
杨东昉
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FAW Group Corp
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FAW Group Corp
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Priority to CN202211230600.8A priority Critical patent/CN115631653A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

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  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a method and a device for determining a lane change time interval, a storage medium and an electronic device. The method comprises the following steps: acquiring vehicle running information, wherein the vehicle running information comprises first running information of a first vehicle, second running information of a plurality of second vehicles and third running information of a third vehicle; determining an evaluation parameter, a first collision time interval and a second collision time interval according to the vehicle running information; determining a lane change time interval data set according to the evaluation parameters, the first collision time interval and the second collision time interval, wherein the lane change time interval data set comprises a plurality of lane change time intervals; and screening the lane change time interval data set according to a screening rule to obtain a target lane change time interval. The method and the device solve the technical problems that in the related art, the lane change time interval is determined through deep learning or simulation training, hidden danger exists in the aspect of algorithm stability, the safety is low, the lane change time interval is limited by hardware equipment, and the lane change time interval is not easy to realize.

Description

Method and device for determining lane change time interval, storage medium and electronic device
Technical Field
The invention relates to the technical field of vehicle lane changing, in particular to a lane changing time interval determining method and device, a storage medium and an electronic device.
Background
In the field of automatic driving, a vehicle lane changing technology is an important means for ensuring the safe lane changing of vehicles and improving the traffic safety. In the lane changing process of the vehicle, correct lane changing time needs to be selected, and if the lane changing time is selected incorrectly, normal running of surrounding vehicles is affected, and potential safety hazards are increased. Too aggressive lane change behavior may cause the surrounding vehicles to react too late, resulting in collision, and too conservative lane change behavior may cause the own vehicle to be unable to enter a lane change state in the late stage, and be forced to leave a predetermined driving trajectory. Therefore, the selection of the lane change time is very important.
At present, under the background of big data and artificial intelligence, the lane changing technology in the field of automatic driving mostly depends on strong front-end technical support, for example, lane changing habits of human driving are obtained through big data mining and deep learning, lane changing information sharing is realized through an internet of vehicles, or driving behaviors of surrounding vehicles are determined through a training track prediction model, so that lane changing of vehicles is executed. However, the black box algorithm is adopted in the deep learning or model training, hidden dangers exist in the aspect of algorithm stability all the time, and safety is low. In addition, the front-end technology depends on complex front-end input, is not easy to implement, is restricted by hardware equipment, and is high in cost.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a lane change time interval determining method and device, a storage medium and an electronic device, and aims to at least solve the technical problems that in the related art, the lane change time interval is determined through deep learning or simulation training, hidden dangers exist in the aspect of algorithm stability, safety is low, hardware equipment is restricted, and the lane change time interval is not easy to achieve.
According to an embodiment of the present invention, a method for determining a lane change time interval is provided, including:
the method comprises the steps of obtaining vehicle running information, wherein the vehicle running information comprises first running information of a first vehicle, second running information of a plurality of second vehicles and third running information of a third vehicle, the first vehicle is located in an initial lane, the plurality of second vehicles are located in a target lane, and the third vehicle is a vehicle which is located in front of the first vehicle and is closest to the first vehicle in the initial lane; determining an evaluation parameter, a first collision time interval and a second collision time interval according to the vehicle running information, wherein the evaluation parameter is used for determining a lane change time interval, the lane change time interval is used for representing a time interval from a lane change starting time to a lane change ending time of a first vehicle, the first collision time interval is used for representing a time interval when the first vehicle collides with each second vehicle, and the second collision time interval is used for representing a time interval when the first vehicle collides with a third vehicle; determining a lane change time interval data set according to the evaluation parameters, the first collision time interval and the second collision time interval, wherein the lane change time interval data set comprises a plurality of lane change time intervals; and screening the lane change time interval data set according to a screening rule to obtain a target lane change time interval.
Optionally, determining the evaluation parameter, the first collision time interval and the second collision time interval according to the vehicle travel information comprises: determining an evaluation parameter according to the first running information, wherein the evaluation parameter comprises the shortest lane changing time length which is used for representing the shortest time length to be met by a lane changing time interval; determining a first collision time interval according to the first driving information and the second driving information; a second collision time interval is determined on the basis of the first travel information and the third travel information.
Optionally, the first driving information comprises a lateral distance, the lateral distance being a perpendicular distance of the first vehicle from a center line of the target lane, the lateral distance being used to determine the evaluation parameter.
Optionally, determining the first collision time interval from the first travel information and the second travel information comprises: sequencing the plurality of second vehicles according to the second running information to obtain a target sequence; and determining a first collision time interval between the first vehicle and any two adjacent vehicles in the target sequence according to the first running information and the second running information.
Optionally, determining the lane change time interval data set according to the evaluation parameter, the first collision time interval and the second collision time interval comprises: determining a lane changing time interval between the first vehicle and any two adjacent vehicles in the target sequence according to the first collision time interval, the second collision time interval and the relative positions of the vehicles, wherein the relative positions of the vehicles comprise that the first vehicle is positioned in front of any two adjacent vehicles in the target sequence, the first vehicle is positioned between any two adjacent vehicles in the target sequence and the first vehicle is positioned behind any two adjacent vehicles in the target sequence; and adding the track changing time interval with the time length larger than or equal to the shortest track changing time length into the track changing time interval data set.
Optionally, the evaluation parameter includes a target lane change duration, and the screening the lane change time interval data set according to the screening rule to obtain the target lane change time interval includes: in response to the existence of a first lane change time interval, determining a lane change time interval which is the latest between the lane change starting time and the current time in the first lane change time interval as a target lane change time interval, wherein the first lane change time interval is a lane change time interval with a time length larger than the target lane change time length and is in a data set of the lane change time interval; in response to the absence of the first lane change time interval and the presence of a second lane change time interval determined from the speed of the one frame on the first vehicle, concentrating lane change time interval data, the lane change time interval having a lane change start time closest to a lane change start time of the second lane change time interval being determined as a target lane change time interval; and in response to the first lane change time interval not existing and the second lane change time interval not existing, determining the lane change time interval with the longest time length in the lane change time interval data set as the target lane change time interval.
Optionally, the first running information includes running information of the first vehicle in a constant speed running state, an acceleration running state, a deceleration running state, and a running state with a speed of one frame on the first vehicle.
According to an embodiment of the present invention, there is further provided a lane change time interval determining apparatus, including:
the vehicle driving information comprises first driving information of a first vehicle, second driving information of a plurality of second vehicles and third driving information of a third vehicle, the first vehicle is located in an initial lane, the plurality of second vehicles are located in a target lane, and the third vehicle is a vehicle which is located in front of the first vehicle and is closest to the first vehicle in the initial lane; the determining module is used for determining evaluation parameters, a first collision time interval and a second collision time interval according to the vehicle running information, wherein the evaluation parameters are used for screening lane change time intervals, the lane change time intervals are used for representing time intervals from the lane change starting time to the lane change ending time of the first vehicle, the first collision time intervals are used for representing the time intervals when the first vehicle collides with each second vehicle, and the second collision time intervals are used for representing the time intervals when the first vehicle collides with the third vehicle; the determining module is further used for determining a lane change time interval data set according to the evaluation parameters, the first collision time interval and the second collision time interval, wherein the lane change time interval data set comprises a plurality of lane change time intervals; and the screening module is used for screening the lane change time interval data set according to the screening rule to obtain a target lane change time interval.
Optionally, the determining module is further configured to determine an evaluation parameter according to the first driving information, where the evaluation parameter includes a shortest lane change duration, and the shortest lane change duration is used to indicate a shortest time length to be satisfied by the lane change time interval; determining a first collision time interval according to the first driving information and the second driving information; a second collision time interval is determined from the first travel information and the third travel information.
Optionally, the first driving information comprises a lateral distance, the lateral distance being a perpendicular distance of the first vehicle from a center line of the target lane, the lateral distance being used to determine the evaluation parameter.
Optionally, the determining module is further configured to sort the plurality of second vehicles according to the second driving information to obtain a target sequence; and determining a first collision time interval between the first vehicle and any two adjacent vehicles in the target sequence according to the first running information and the second running information.
Optionally, the determining module is configured to determine a lane change time interval between the first vehicle and any two adjacent vehicles in the target sequence according to the first collision time interval, the second collision time interval, and a vehicle relative position, where the vehicle relative position includes that the first vehicle is located in front of any two adjacent vehicles in the target sequence, the first vehicle is located between any two adjacent vehicles in the target sequence, and the first vehicle is located behind any two adjacent vehicles in the target sequence; and adding the lane change time interval with the time length greater than or equal to the shortest lane change time length into the lane change time interval data set.
Optionally, the screening module is further configured to determine, in response to existence of a first lane change time interval, a lane change time interval, which is closest to a current time at a lane change start time in the first lane change time interval, as a target lane change time interval, where the first lane change time interval is a lane change time interval in which a data set of the lane change time interval is collected and a time length is greater than a target lane change time length; in response to the first lane change time interval not existing and a second lane change time interval determined according to the speed of one frame on the first vehicle existing, the lane change time interval data set determines a lane change time interval, of which the lane change start time is the closest to the lane change start time of the second lane change time interval, as a target lane change time interval; and in response to the first lane change time interval not existing and the second lane change time interval not existing, determining the lane change time interval with the longest time length in the lane change time interval data set as the target lane change time interval.
Optionally, the first running information includes running information of the first vehicle in a constant speed running state, an acceleration running state, a deceleration running state, and a running state with a speed of one frame on the first vehicle.
According to an embodiment of the present invention, there is further provided a computer-readable storage medium, in which a computer program is stored, where the computer program is configured to execute the lane change time interval determination method in any one of the above methods when the computer program runs on a computer or a processor.
According to an embodiment of the present invention, there is further provided an electronic apparatus, including a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program to perform the method for determining a lane change time interval in any one of the above embodiments.
In an embodiment of the present invention, a vehicle travel information is acquired, the vehicle travel information including first travel information of a first vehicle, second travel information of a plurality of second vehicles, and third travel information of a third vehicle, the first vehicle being in an initial lane, the plurality of second vehicles being in a target lane, the third vehicle being a vehicle located in front of the first vehicle and closest to the first vehicle in the initial lane, an evaluation parameter, a first collision time zone and a second collision time zone are determined according to the vehicle travel information, the evaluation parameter is used for screening the lane change time zone, the lane change time zone is used for representing a time zone from a lane change start time to a lane change end time of the first vehicle, the first collision time zone is used for representing a time zone in which the first vehicle collides with each of the second vehicles, the second collision time zone is used for representing a time zone in which the first vehicle collides with the third vehicle, a lane change time zone data set is determined according to the evaluation parameter, the first collision time zone and the second collision time zone, the lane change time zone data set includes a plurality of lane change time zones, the target time zone is screened according to a screening rule, and the target time zone is obtained. By adopting the steps, all the collision time intervals in which the vehicle and the surrounding vehicles are possible to collide are determined according to the running information (speed and position information) of the vehicle (first vehicle) and the surrounding vehicles (second vehicle and third vehicle), all the lane change time intervals in which the vehicle can safely change lanes are determined according to all the collision time intervals, and the lane change time intervals (target lane change time intervals) with the best safety and comfort can be determined by screening all the lane change time intervals. The purpose of determining the optimal lane change time interval of the vehicle can be achieved only according to the running information (speed and position information) of the vehicle and the surrounding vehicles, so that the input is simple, the realization is easy, and the cost is low. In addition, the lane change time interval of the vehicle can be ensured to be sufficient, and the lane change method is suitable for various lane change scenes, so that the technical effects of improving the lane change safety and comfort of the vehicle are achieved, and the technical problems that in the related technology, the lane change time interval is determined through deep learning or simulation training, hidden danger exists in the aspect of algorithm stability, the safety is low, the lane change time interval is restricted by hardware equipment, and the lane change is not easy to achieve are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a lane change time interval determination method according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle positional relationship according to one embodiment of the present invention;
fig. 3 is a block diagram of a lane change time interval determination apparatus according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with one embodiment of the present invention, there is provided an embodiment of a lane change time interval determination method, it should be noted that the steps illustrated in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be executed in an order different than that shown.
The method embodiments may be performed in an electronic device, similar control device or system, comprising a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and memory for storing data. Optionally, the electronic apparatus may further include a communication device for a communication function and a display device. It will be understood by those skilled in the art that the foregoing structural description is merely illustrative and not restrictive on the structure of the electronic device. For example, the electronic device may also include more or fewer components than described above, or have a different configuration than described above.
A processor may include one or more processing units. For example: the processor may include a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processing (DSP) chip, a Microprocessor (MCU), a field-programmable gate array (FPGA), a neural Network Processor (NPU), a Tensor Processing Unit (TPU), an Artificial Intelligence (AI) type processor, and the like. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some examples, the electronic device may also include one or more processors.
The memory may be configured to store a computer program, for example, a computer program corresponding to the lane change time interval determination method in the embodiment of the present invention, and the processor may implement the lane change time interval determination method by running the computer program stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include memory remotely located from the processor, which may be connected to the electronic device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Communication devices are used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a Network Interface Controller (NIC) that may be connected to other network devices via a base station to communicate with the internet. In one example, the communication device may be a Radio Frequency (RF) module for communicating with the internet by wireless means.
The display device may be, for example, a touch screen type Liquid Crystal Display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a Graphical User Interface (GUI) with which a user can interact by touching finger contacts and/or gestures on a touch-sensitive surface, where the man-machine interaction function optionally includes the following interactions: executable instructions for creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, emailing, call interfacing, playing digital video, playing digital music, and/or web browsing, etc., for performing the above-described human-computer interaction functions, are configured/stored in one or more processor-executable computer program products or readable storage media.
In the present embodiment, a method for determining a lane change time interval operating in an electronic device is provided, and fig. 1 is a flowchart of a method for determining a lane change time interval according to an embodiment of the present invention, as shown in fig. 1, the flowchart includes the following steps:
step S10, vehicle running information is obtained;
the vehicle running information comprises first running information of a first vehicle, second running information of a plurality of second vehicles and third running information of a third vehicle, the first vehicle is located in an initial lane, the plurality of second vehicles are located in a target lane, and the third vehicle is a vehicle which is located in front of the first vehicle and is closest to the first vehicle in the initial lane.
Fig. 2 is a schematic diagram of a positional relationship of vehicles according to one embodiment of the present invention, as shown in fig. 2, including a first vehicle, a plurality of second vehicles, and a third vehicle. The first vehicle may be understood as a host vehicle to be lane-changed and located in an initial lane, the second vehicle may be understood as an obstacle vehicle obstructing the lane change of the host vehicle and located in a target lane, the target lane being adjacent to the initial lane, and the third vehicle may be understood as an obstacle vehicle located closest to the front of the host vehicle and located in the initial lane. Specifically, when the host vehicle changes from the initial lane to the target lane, it is necessary to avoid collision with the surrounding obstacle vehicles.
The first travel information includes a speed of the first vehicle, a nose longitudinal distance of the first vehicle, a tail longitudinal distance of the first vehicle, and a lateral distance of the first vehicle. As shown in fig. 2, a spoke coordinate system is established with the center line a of the target lane as a reference line, and the starting point of the reference line may be preset at point B in fig. 2, which is not limited in the present invention. The speed of the first vehicle is understood to be the speed of the vehicle in the direction of travel, denoted v 0 . If the projection of the head of the first vehicle on the reference line is a point C, the head of the first vehicleThe longitudinal distance of the vehicle head can be understood as the distance between the point C and the point B on the reference line and is marked as l f0 Correspondingly, if the projection of the tail of the first vehicle on the reference line is a point D, the longitudinal distance of the tail of the first vehicle can be understood as the distance between the point D and the point B on the reference line, and is denoted as l b0 . If the center point of the first vehicle is point E, the projection of the point E on the reference line is point F, and the tangent line of the reference line is drawn at the point F, the lateral distance of the first vehicle can be understood as the distance between the point E and the point F in the direction perpendicular to the tangent line, and is marked as l 0 。
It is understood that during actual travel of the first vehicle, a plurality of travel states such as uniform speed travel, acceleration travel, or deceleration travel may occur, and the first travel information includes travel information of the first vehicle in the plurality of travel states.
The second travel information includes a speed of the second vehicle, a nose longitudinal distance of the second vehicle, and a tail longitudinal distance of the second vehicle. As shown in fig. 2, the speed of the second vehicle can be understood as the speed of the second vehicle in the direction of travel, denoted v i . If the projection of the head of the second vehicle on the reference line is a G point, the longitudinal distance of the head of the second vehicle can be understood as the distance between the G point and the B point on the reference line and is marked as l fi， Correspondingly, if the projection of the tail of the second vehicle on the reference line is the point H, the longitudinal distance of the tail of the second vehicle can be understood as the distance between the point H and the point B on the reference line, and is denoted by l bi 。
The third traveling information includes the speed of the third vehicle, the longitudinal distance of the front of the third vehicle, and the longitudinal distance of the rear of the third vehicle, which is referred to the description of the first traveling information or the second traveling information, and is not described in detail herein.
The vehicle driving information can be acquired by various vehicle sensors, road side camera devices and positioning systems. The vehicle driving information is used as input data for determining a lane change time interval, and the success rate and the safety of lane change of the vehicle in the lane change time interval are ensured.
Step S11, determining an evaluation parameter, a first collision time interval and a second collision time interval according to the vehicle running information;
the evaluation parameters are used for determining a lane change time interval, the lane change time interval is used for representing a time interval from a lane change starting time to a lane change ending time of the first vehicle, the first collision time interval is used for representing a time interval when the first vehicle collides with each second vehicle, and the second collision time interval is used for representing a time interval when the first vehicle collides with the third vehicle.
The evaluation parameters comprise the shortest lane change duration g min And a target lane change duration g opt The lane change time period may be understood as a time period from a lane change start time corresponding to the start of lane change of the vehicle to a lane change end time corresponding to the completion of lane change, for example, the lane change time period is 5 seconds when the lane change of the vehicle is started from 3 rd second after driving and the lane change is completed in 8 th second after driving. Shortest lane change duration g min It can be understood that the shortest time length to be satisfied, i.e. the minimum required time g for the lane change time interval, is to ensure the safety of the vehicle and to complete the lane change successfully min The lane change time can ensure that the vehicle can complete the lane change safely and successfully. Target lane change duration g opt The method can be understood as that on the premise of ensuring the safety of the vehicle and successfully completing lane change, the optimal time length of the lane change time interval corresponding to the comfort of the vehicle passengers in the lane change process is considered, namely the lane change time length of the vehicle is g opt The lane changing time interval can ensure the lane changing safety, success rate and comfort of the passengers.
The collision time interval can be understood as the time interval in which the first vehicle may collide with the obstacle vehicle around the first vehicle, and is denoted by t start ，t end ]，t start Indicates the time of the start of a collision, t end Indicating the end of the collision. As shown in fig. 2, taking the first vehicle and the second vehicle a as an example of a collision, the first vehicle is at a position in front of the second vehicle a, and the collision time interval of the first vehicle and the second vehicle a can be expressed as a time t from the rear of the first vehicle and the front of the second vehicle a start At the beginning to firstTime t at which the front of the vehicle and the rear of the vehicle of the second vehicle a end a collision end The time interval of (c). It is understood that the time zone during which the rear vehicle (second vehicle a) collides with the front vehicle (first vehicle) during the overtaking of the front vehicle, the first vehicle and the second vehicle a always collide during the collision time zone.
Furthermore, according to the speed information and the position information of the vehicle and the surrounding obstacle vehicles in the vehicle running information, a first collision time interval and a second collision time interval of the collision between the vehicle and the surrounding obstacle vehicles can be determined.
Step S12, determining a lane change time interval data set according to the evaluation parameters, the first collision time interval and the second collision time interval;
wherein the lane change time interval data set comprises a plurality of lane change time intervals.
The first collision time interval and the second collision time interval represent all time intervals when the vehicle collides with surrounding obstacle vehicles in the lane changing process, so that when the lane changing time interval of the vehicle is determined, the lane changing time interval, the first collision time interval and the second collision time interval are ensured not to be intersected, and the lane changing time interval for safely finishing lane changing can be determined. And then screening the lane change time interval according to the evaluation parameters to ensure that the lane change time length of the lane change time interval is greater than the shortest lane change time length g min The lane change time interval for ensuring the safety of the vehicle and successfully completing the lane change can be determined.
The lane change time intervals determined according to the evaluation parameters, the first collision time interval and the second collision time interval are added into the lane change time interval data set, so that the lane change time interval data set comprising the lane change time intervals can be determined, the lane change time intervals in the lane change time interval data set can ensure that the lane change of the vehicle can be safely and successfully completed in the lane change process, and the lane change time intervals are sufficient when the first vehicle changes lanes, and are suitable for various lane change scenes.
And S13, screening the lane change time interval data set according to a screening rule to obtain a target lane change time interval.
And screening a plurality of lane change time intervals in the lane change time interval data set according to a screening rule, and determining the lane change time interval with the highest passenger body feeling comfort in the first vehicle as a target lane change time interval. Therefore, when the first vehicle changes the lane according to the target lane changing time interval, the success rate and the safety of the first vehicle in the lane changing process and the comfort of passengers are ensured.
Through the steps, vehicle running information is obtained, the vehicle running information comprises first running information of a first vehicle, second running information of a plurality of second vehicles and third running information of a third vehicle, the first vehicle is located in an initial lane, the plurality of second vehicles are located in a target lane, the third vehicle is a vehicle located in front of the first vehicle and closest to the first vehicle in the initial lane, an evaluation parameter, a first collision time interval and a second collision time interval are determined according to the vehicle running information, the evaluation parameter is used for screening the lane change time interval, the lane change time interval is used for representing a time interval from a lane change starting time to a lane change ending time of the first vehicle, the first collision time interval is used for representing a time interval when the first vehicle collides with each second vehicle, the second collision time interval is used for representing a time interval when the first vehicle collides with the third vehicle, a lane change time interval data set is determined according to the evaluation parameter, the first collision time interval and the second collision time interval, the lane change time interval data set comprises a plurality of lane change time intervals, and the target lane change time interval is screened according to screening rules. By adopting the steps, all the collision time intervals in which the vehicle and the surrounding vehicles are possible to collide are determined according to the running information (speed and position information) of the vehicle (first vehicle) and the surrounding vehicles (second vehicle and third vehicle), all the lane change time intervals in which the vehicle can safely change lanes are determined according to all the collision time intervals, and the lane change time intervals (target lane change time intervals) with the best safety and comfort can be determined by screening all the lane change time intervals. The purpose of determining the optimal lane change time interval of the vehicle can be achieved only according to the running information (speed and position information) of the vehicle and the surrounding vehicles, so that the input is simple, the realization is easy, and the cost is low. In addition, the lane change time interval of the vehicle can be ensured to be sufficient, and the lane change method is suitable for various lane change scenes, so that the technical effects of improving the lane change safety and comfort of the vehicle are achieved, and the technical problems that in the related technology, the lane change time interval is determined through deep learning or simulation training, hidden danger exists in the aspect of algorithm stability, the safety is low, the lane change time interval is restricted by hardware equipment, and the lane change is not easy to achieve are solved.
Optionally, the first running information includes running information of the first vehicle in a constant speed running state, an acceleration running state, a deceleration running state, and a running state with a speed of one frame on the first vehicle.
Since the first vehicle may have a plurality of driving states during actual driving, the first driving information of the first vehicle in the plurality of driving states needs to be considered when determining the lane change time interval. Specifically, the change of the running state of the first vehicle is realized by changing the speed of the first vehicle, so that the first vehicle can be ensured to safely and successfully complete lane changing in any running state. In addition, a lane change time interval is determined according to the driving information of the first vehicle in the speed driving state of the last frame, so that the lane change continuity of the first vehicle is ensured, and passengers have more comfortable lane change experience.
It should be noted that the first driving information in the embodiment of the present invention includes the driving information of the first vehicle in the constant speed driving state, the acceleration driving state, the deceleration driving state, and the driving state using the speed of the last frame of the first vehicle, and the following is not emphasized too much.
Alternatively, in step S11, determining the evaluation parameter, the first collision time zone and the second collision time zone from the vehicle travel information may include performing the steps of:
step S110, determining an evaluation parameter according to the first running information;
the evaluation parameters comprise the shortest lane changing time length which is used for representing the shortest time length to be met by the lane changing time interval.
It can be understood that the transverse distance l of the first vehicle in the first travel information is used as a function of 0 Determining an evaluation parameter, which may be expressed as a lateral distance l of the first vehicle in a family of coordinates 0 Is a monotonically increasing function of. In particular, the shortest lane change duration g min And a target lane change duration g opt Can be expressed as:
Figure BDA0003881254540000101
g opt ＝max(2.5，l 0 +1) (2)
step S111, determining a first collision time interval according to the first driving information and the second driving information;
can be understood as being based on the speed v of the first vehicle in the first travel information 0 Longitudinal distance l between the head of the first vehicle f0 And the longitudinal distance l of the tail of the first vehicle b0 And the speed v of the second vehicle in the second running information i And the longitudinal distance l of the head of the second vehicle fi And the longitudinal distance l of the rear of the vehicle of the second vehicle bi A first collision time interval can be determined.
In particular, the time interval of impact t may be determined by constructing a mathematical model of the time interval of impact start ，t end ]Take the example of determining a first collision time interval, wherein the collision start time t start Can be expressed as:
Figure BDA0003881254540000111
end of collision time t end Can be expressed as:
Figure BDA0003881254540000112
determining a first collision time zone by the mathematical model of the collision time intervalIn time, if the second vehicle is behind the first vehicle, then select l b0 >l fi Corresponding t start A calculation formula, and l b0 >I ii Corresponding t end And (4) calculating a formula. If the second vehicle is in front of the first vehicle, then select l bi >l F0 Corresponding t start Calculation formula, and l fi >l b0 Corresponding t end And (4) calculating a formula. If t is calculated start Or t end If less than 0, t will be set start Or t end The value of (b) is determined to be positive infinity.
It can be understood that, when determining the first collision time interval according to the above-mentioned collision time interval mathematical model, the first collision time interval between the first vehicle and all the second vehicles in the target lane needs to be determined, so as to improve the safety of lane changing.
In step S112, a second collision time interval is determined from the first travel information and the third travel information.
Can be understood as being based on the speed v of the first vehicle in the first travel information 0 And the longitudinal distance l of the head of the first vehicle f0 And the longitudinal distance l of the tail of the first vehicle b0 And determining a second collision time interval by the speed of the third vehicle, the longitudinal distance of the head of the third vehicle and the longitudinal distance of the tail of the third vehicle in the third running information, and recording the second collision time interval of the first vehicle and the third vehicle as t' start ，t′ end ]. Specifically, a collision time interval mathematical model may also be constructed to determine the second collision time interval, see the description of step S111, which is not described in detail herein.
Determining a second collision time interval [ t 'of the first vehicle and the third vehicle' start ，t′ end ]Then, based on the target lane-changing duration and the collision start time of the second collision time interval, the initial lane-changing time interval [0, t ] can be determined]Wherein t = min (2 g) opt， t′ start ). And then, according to the relative position between the first vehicle and the second vehicle, the initialized lane change time interval can be further updated, so that the lane change time intervals of the first vehicle at different positions are determined.
Optionally, the first driving information comprises a lateral distance, the lateral distance being a perpendicular distance of the first vehicle from a center line of the target lane, the lateral distance being used to determine the evaluation parameter.
As shown in FIG. 2, the lateral distance l of the first vehicle 0 The distance between the center point E and the point F of the first vehicle in the direction perpendicular to the tangent line can be understood as the perpendicular distance between the first vehicle and the center line a of the target lane. For details, reference is made to the description of step S10 and step S110, which is not described herein in too much detail.
Alternatively, in step S111, determining the first collision time interval from the first travel information and the second travel information may include performing the steps of:
step S1110, sorting a plurality of second vehicles according to the second travel information to obtain a target sequence;
respectively setting a second vehicle (virtual vehicle) with the speed of 0 at the forefront and the rearmost of the target lane for calculating a first collision time interval, and if the target lane actually comprises i second vehicles (real vehicles), sequencing i +2 second vehicles (real vehicles and virtual vehicles) in the target lane from small to large according to the longitudinal distance of the head of the vehicle or the longitudinal distance of the tail of the vehicle to obtain a target sequence. In the target sequence, the longitudinal distance of the head or the longitudinal distance of the tail of the 1 st vehicle is the minimum, and the longitudinal distance of the head or the longitudinal distance of the tail of the (i + 2) th vehicle is the maximum.
It is understood that the order of the plurality of second vehicles in the target sequence coincides with the actual driving order in the target lane.
Step S1111, determining a first collision time interval between the first vehicle and any two adjacent vehicles in the target sequence according to the first running information and the second running information.
The target is traversed sequentially because every two adjacent second vehicles in the target lane are used for changing lanesAnd two adjacent second vehicles in the sequence are represented by the nth vehicle and the n +1 th vehicle in the target sequence, wherein n is an integer greater than 0. Determining a first collision time interval between the first vehicle and the nth vehicle and the (n + 1) th vehicle in the target sequence according to the mathematical collision time interval model, and recording the first collision time interval between the first vehicle and the nth vehicle in the target sequence as
Figure BDA0003881254540000121
Recording a first collision time interval between the first vehicle and the (n + 1) th vehicle in the target sequence as
Figure BDA0003881254540000122
Therefore, all collision time intervals in which the vehicle and all surrounding obstacle vehicles are likely to collide are determined, and when the lane change time interval of the vehicle is subsequently determined, the lane change can be safely completed by ensuring that the lane change time interval and the collision time interval are not overlapped in time. Alternatively, in step S12, determining a lane change time interval data set according to the evaluation parameter, the first collision time interval and the second collision time interval may include the following steps:
step S120, determining lane changing time intervals of the first vehicle and any two adjacent vehicles in the target sequence according to the first collision time interval, the second collision time interval and the relative positions of the vehicles;
the relative vehicle positions comprise that a first vehicle is located in front of any two adjacent vehicles in the target sequence, the first vehicle is located between any two adjacent vehicles in the target sequence, and the first vehicle is located behind any two adjacent vehicles in the target sequence.
Since the relative positions of the first vehicle and the plurality of second vehicles may change during actual driving, and the lane change time intervals corresponding to different relative positions are different, it is necessary to consider that the relative positions of the first vehicle and the plurality of second vehicles change when determining the lane change time intervals. It can be understood that the situation that all the relative positions of the first vehicle and the plurality of second vehicles are changed is considered in advance, and the lane change time intervals corresponding to all the possible relative positions are determined.
In particular, determining the lane change time interval based on the relative positions of the first vehicle and the plurality of second vehicles may be understood as referring to the initial lane change time interval [0, t [ ]]Updating is performed so that different relative positions can be updated in different ways for the initial track change time interval [0, t ]]Updating is performed so as to determine the lane change time interval. If the first vehicle is positioned between any two adjacent vehicles in the target sequence, updating the initial lane change time interval to be
Figure BDA0003881254540000131
If the first vehicle is positioned in front of any two adjacent vehicles in the target sequence, updating the initial lane change time interval to be
Figure BDA0003881254540000132
If the first vehicle is positioned behind any two adjacent vehicles in the target sequence, updating the initial lane change time interval to be
Figure BDA0003881254540000133
Therefore, the initial lane changing time interval is updated according to the relative positions of the first vehicle and the plurality of second vehicles, and lane changing can be safely completed when the first vehicle is located at different positions.
Step S121, adding the lane change time interval with the time length larger than or equal to the shortest lane change time length into the lane change time interval data set.
Due to the shortest lane change time length g min The shortest time length to be satisfied for ensuring the safety of the vehicle and successfully completing the lane change time interval is determined, and the time length of the updated lane change time interval is determined if the time length is less than g min Directly deleting the data, not adding the data into the data set of the channel change time interval, and if the time length is greater than or equal to g min If the number of the lane change time interval is less than the predetermined threshold, the lane change time interval is saved and added to the number of the lane change time intervalsAnd (6) collecting data.
It will be appreciated that the lane change time interval data set includes lane change time intervals corresponding to different locations of the first vehicle, thereby ensuring that the lane change can be safely completed by the first vehicle at different locations.
Optionally, in step S13, the step of filtering the lane change time interval data set according to the filtering rule to obtain the target lane change time interval may include the following steps:
step S130, in response to the existence of the first lane change time interval, determining a lane change time interval, which is closest to the current time, of the lane change starting time in the first lane change time interval as a target lane change time interval;
the first lane change time interval is a lane change time interval with a time length longer than the target lane change time length and is in data set.
Due to the target lane change duration g opt In order to ensure the safety of the vehicle and complete the lane change successfully, and simultaneously take into account the optimal time length of the lane change time interval corresponding to the comfort of the vehicle passengers in the lane change process, if the data set of the lane change time interval is greater than the target lane change time length g opt If the lane change time interval is the first lane change time interval, the lane change time interval closest to the current time is selected from the first lane change time interval as the finally determined target lane change time interval, and the selection time length can be understood to be greater than the target lane change time length g opt And the lane change time interval for starting lane change as soon as possible is used as the finally determined target lane change time interval.
Therefore, the finally selected target lane changing time interval can be ensured, the success rate, the safety and the comfort of the lane changing of the vehicle can be ensured, and meanwhile, the vehicle can quickly enter a lane changing state.
Step S131, responding to the situation that the first lane change time interval does not exist and a second lane change time interval determined according to the speed of one frame on the first vehicle exists, concentrating lane change time interval data, and determining a lane change time interval with the lane change starting time closest to the lane change starting time of the second lane change time interval as a target lane change time interval;
since the first driving information of the first vehicle includes the driving information of the first vehicle in the driving state at the speed of the last frame, if the lane change time interval data set does not satisfy the filtering rule of step S130, the optimal lane change time interval, that is, the second lane change time interval corresponding to the first vehicle in the driving state at the speed of the last frame is determined according to the speed of the last frame of the first vehicle. Specifically, when the second lane change time interval is determined, the speed of the first vehicle in the last frame is used as the speed of the first vehicle, and the data set of the lane change time interval of the last frame of the first vehicle at the speed of the last frame is determined according to the scheme. And screening the data set of the lane change time interval of the previous frame according to the screening rule of the step S130 or the following step S132, and obtaining an optimal data set of the lane change time interval as the second lane change time interval.
After the second lane change time interval is determined, a lane change time interval with the lane change starting time closest to the lane change starting time in the second lane change time interval is selected from a lane change time interval data set (comprising all lane change time intervals determined when the first vehicle is in a constant speed driving state, an acceleration driving state, a deceleration driving state and a speed driving state of the first vehicle in the last frame) and is used as a target lane change time interval, and therefore the continuity of lane change of the vehicles is guaranteed.
Therefore, the finally selected target lane changing time interval can ensure the success rate, safety and comfort of lane changing of the vehicle and can also ensure the continuity of lane changing of the vehicle.
In step S132, in response to the absence of the first lane change time interval and the absence of the second lane change time interval, the lane change time interval with the longest time length in the data set of lane change time intervals is determined as the target lane change time interval.
If the data set of the lane change time interval does not meet the screening rules of the step S130 and the step S131, the lane change time interval with the longest lane change time duration is selected as the target lane change time interval in the data set of the lane change time interval, so that the success rate, the safety and the comfort of the lane change of the vehicle can be ensured, and the stability of the lane change process can be ensured.
In addition, after the target lane change time interval is determined, the lane change position point can be determined according to the speed of the first vehicle and the lane change starting time of the target lane change time interval, so that lane change can be completed more safely and accurately, and redundant description is omitted here.
Therefore, the lane change time interval determination method provided by the embodiment of the invention can determine the optimal lane change time interval of the vehicle only by the speed information and the position information of the vehicle. The input is simple, the realization is easy, and the realization cost is low. In addition, the lane change time interval data set is constructed, so that the lane change time interval of the vehicle can be ensured to be sufficient, the lane change control system is suitable for various lane change scenes and various driving states, and the comfort of passengers is ensured on the premise of ensuring the success rate and the safety of lane change of the vehicle.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a track-changing time interval device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and the description of the device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware or a combination of software and hardware is also possible and contemplated.
Fig. 3 is a block diagram of a lane change time interval device according to an embodiment of the present invention, which is illustrated in fig. 3 as a lane change time interval device 300, and includes: the acquiring module 301 is configured to acquire vehicle driving information, where the vehicle driving information includes first driving information of a first vehicle, second driving information of a plurality of second vehicles, and third driving information of a third vehicle, the first vehicle is located in an initial lane, the plurality of second vehicles are located in a target lane, and the third vehicle is a vehicle located in front of the first vehicle and closest to the first vehicle in the initial lane; the determining module 302 is configured to determine an evaluation parameter, a first collision time interval and a second collision time interval according to the vehicle driving information, where the evaluation parameter is used to screen a lane change time interval, the lane change time interval is used to indicate a time interval from a lane change start time to a lane change end time of a first vehicle, the first collision time interval is used to indicate a time interval when the first vehicle collides with each second vehicle, and the second collision time interval is used to indicate a time interval when the first vehicle collides with a third vehicle; the determining module 302 is further configured to determine a lane change time interval data set according to the evaluation parameter, the first collision time interval, and the second collision time interval, where the lane change time interval data set includes a plurality of lane change time intervals; and the screening module 303 is used for screening the lane change time interval data set according to a screening rule to obtain a target lane change time interval.
Optionally, the determining module 302 is further configured to determine an evaluation parameter according to the first driving information, where the evaluation parameter includes a shortest lane change duration, and the shortest lane change duration is used to indicate a shortest time length to be satisfied by the lane change time interval; determining a first collision time interval according to the first driving information and the second driving information; a second collision time interval is determined from the first travel information and the third travel information.
Optionally, the first driving information comprises a lateral distance, the lateral distance being a perpendicular distance of the first vehicle from a center line of the target lane, the lateral distance being used to determine the evaluation parameter.
Optionally, the determining module 302 is further configured to rank the plurality of second vehicles according to the second driving information, so as to obtain a target sequence; and determining a first collision time interval between the first vehicle and any two adjacent vehicles in the target sequence according to the first running information and the second running information.
Optionally, the determining module 302 is configured to determine a lane change time interval between the first vehicle and any two adjacent vehicles in the target sequence according to the first collision time interval, the second collision time interval, and a vehicle relative position, where the vehicle relative position includes that the first vehicle is located in front of any two adjacent vehicles in the target sequence, the first vehicle is located between any two adjacent vehicles in the target sequence, and the first vehicle is located behind any two adjacent vehicles in the target sequence; and adding the lane change time interval with the time length greater than or equal to the shortest lane change time length into the lane change time interval data set.
Optionally, the screening module 303 is further configured to determine, in response to existence of a first lane change time interval, a lane change time interval, which is closest to the current time from a lane change start time in the first lane change time interval, as a target lane change time interval, where the first lane change time interval is a lane change time interval in which a data set of the lane change time interval is collected and a time length is greater than a target lane change time length; in response to the absence of the first lane change time interval and the presence of a second lane change time interval determined from the speed of the one frame on the first vehicle, concentrating lane change time interval data, the lane change time interval having a lane change start time closest to a lane change start time of the second lane change time interval being determined as a target lane change time interval; and in response to the first lane change time interval not existing and the second lane change time interval not existing, determining the lane change time interval with the longest time length in the lane change time interval data set as the target lane change time interval.
Optionally, the first running information includes running information of the first vehicle in a constant speed running state, an acceleration running state, a deceleration running state, and a running state with a speed of one frame on the first vehicle.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above-described method embodiments when run on a computer or processor.
Alternatively, in the present embodiment, the above-mentioned computer-readable storage medium may be configured to store a computer program for executing the steps of:
step S1, vehicle running information is obtained;
s2, determining an evaluation parameter, a first collision time interval and a second collision time interval according to the vehicle running information;
s3, determining a lane change time interval data set according to the evaluation parameters, the first collision time interval and the second collision time interval;
and S4, screening the lane change time interval data set according to a screening rule to obtain a target lane change time interval.
Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention further provide an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program to perform the steps in any one of the above method embodiments.
Optionally, in this embodiment, the processor in the electronic device may be configured to execute a computer program to perform the following steps:
step S1, vehicle running information is obtained;
s2, determining an evaluation parameter, a first collision time interval and a second collision time interval according to the vehicle running information;
s3, determining a lane change time interval data set according to the evaluation parameters, the first collision time interval and the second collision time interval;
and S4, screening the lane change time interval data set according to a screening rule to obtain a target lane change time interval.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims (10)

1. A method for determining a lane change time interval, comprising:
acquiring vehicle running information, wherein the vehicle running information comprises first running information of a first vehicle, second running information of a plurality of second vehicles and third running information of a third vehicle, the first vehicle is located in an initial lane, the plurality of second vehicles are located in a target lane, and the third vehicle is a vehicle which is located in front of the first vehicle and is closest to the first vehicle in the initial lane;
determining an evaluation parameter, a first collision time interval and a second collision time interval according to the vehicle running information, wherein the evaluation parameter is used for determining the lane change time interval, the lane change time interval is used for representing a time interval from a lane change starting time to a lane change ending time of the first vehicle, the first collision time interval is used for representing a time interval when the first vehicle collides with each second vehicle, and the second collision time interval is used for representing a time interval when the first vehicle collides with the third vehicle;
determining a lane change time interval data set according to the evaluation parameter, the first collision time interval and the second collision time interval, wherein the lane change time interval data set comprises a plurality of lane change time intervals;
and screening the lane change time interval data set according to a screening rule to obtain a target lane change time interval.
2. The method of claim 1, wherein the determining an evaluation parameter, a first time-to-collision interval, and a second time-to-collision interval from the vehicle travel information comprises:
determining an evaluation parameter according to the first running information, wherein the evaluation parameter comprises a shortest lane changing time length which is used for representing the shortest time length to be met by the lane changing time interval;
determining a first collision time interval according to the first driving information and the second driving information;
determining a second collision time interval according to the first travel information and the third travel information.
3. The method of claim 2, wherein the first travel information comprises a lateral distance, the lateral distance being a perpendicular distance of the first vehicle from a centerline of the target lane, the lateral distance being used to determine the evaluation parameter.
4. The method of claim 2, wherein the determining a first collision time interval from the first travel information and the second travel information comprises:
sequencing the plurality of second vehicles according to the second driving information to obtain a target sequence;
and determining the first collision time interval between the first vehicle and any two adjacent vehicles in the target sequence according to the first running information and the second running information.
5. The method of claim 4, wherein determining a lane change time interval data set as a function of the evaluation parameter, the first time interval of impact, and the second time interval of impact comprises:
determining the lane change time interval between the first vehicle and any two adjacent vehicles in the target sequence according to the first collision time interval, the second collision time interval and a vehicle relative position, wherein the vehicle relative position comprises that the first vehicle is positioned in front of any two adjacent vehicles in the target sequence, the first vehicle is positioned between any two adjacent vehicles in the target sequence and the first vehicle is positioned behind any two adjacent vehicles in the target sequence;
and adding the lane change time interval with the time length greater than or equal to the shortest lane change time length into the lane change time interval data set.
6. The method according to any one of claims 1 to 5, wherein the evaluation parameter includes a target lane change duration, and the screening the lane change time interval data set according to the screening rule to obtain a target lane change time interval includes:
in response to the existence of a first lane change time interval, determining a lane change time interval which is the latest between the lane change starting time and the current time in the first lane change time interval as the target lane change time interval, wherein the first lane change time interval is a lane change time interval with the time length being greater than the target lane change time length in the lane change time interval data set;
in response to the first lane change time interval not existing and a second lane change time interval determined according to the speed of one frame on the first vehicle existing, the lane change time interval data set determines a lane change time interval with a lane change start time closest to a lane change start time of the second lane change time interval as the target lane change time interval;
in response to the first lane change time interval not existing and the second lane change time interval not existing, determining the lane change time interval with the longest time length in the lane change time interval data set as the target lane change time interval.
7. The method according to any one of claims 1-5, characterized in that the first travel information comprises travel information of the first vehicle in a constant speed travel state, an acceleration travel state, a deceleration travel state, and a travel state that takes a speed of one frame on the first vehicle.
8. A lane change time interval determination apparatus, comprising:
the vehicle driving information acquisition module is used for acquiring vehicle driving information, wherein the vehicle driving information comprises first driving information of a first vehicle, second driving information of a plurality of second vehicles and third driving information of a third vehicle, the first vehicle is located in an initial lane, the plurality of second vehicles are located in a target lane, and the third vehicle is a vehicle which is located in front of the first vehicle and is closest to the first vehicle in the initial lane;
the determining module is used for determining an evaluation parameter, a first collision time interval and a second collision time interval according to the vehicle running information, wherein the evaluation parameter is used for screening the lane change time interval, the lane change time interval is used for representing a time interval from a lane change starting time to a lane change finishing time of the first vehicle, the first collision time interval is used for representing a time interval when the first vehicle collides with each second vehicle, and the second collision time interval is used for representing a time interval when the first vehicle collides with the third vehicle;
the determining module is further configured to determine a lane change time interval data set according to the evaluation parameter, the first collision time interval and the second collision time interval, wherein the lane change time interval data set includes a plurality of lane change time intervals;
and the screening module is used for screening the lane change time interval data set according to a screening rule to obtain a target lane change time interval.
9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute, when running on a computer or a processor, the lane change time interval determination method according to any of the preceding claims 1 to 7.
10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the lane change time interval determination method according to any one of claims 1 to 7.
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