CN116189416A - A vehicle lane change control method, device, equipment and storage medium - Google Patents

Abstract

The application discloses a vehicle lane change control method, a device, equipment and a storage medium, wherein the method comprises the following steps: responding to a lane change request, and acquiring a first average vehicle speed corresponding to a first lane and a second average vehicle speed corresponding to at least one second lane in a target period and traffic flow density information, wherein the first lane is a lane where a target vehicle is located, the second lane is a lane adjacent to the first lane, and the running direction of the first lane is the same as the running direction corresponding to the second lane; determining a target lane from at least one second lane according to the first average vehicle speed, the at least one second average vehicle speed and the at least one traffic flow density information; the lane change control method not only improves the passing efficiency and average running speed of the target vehicle, but also can avoid ineffective lane change.

Description

A vehicle lane change control method, device, equipment and storage medium

technical field

The present application relates to the technical field of vehicle lane change control, and in particular to a vehicle lane change control method, device, equipment and storage medium.

Background technique

The automatic driving system can control the vehicle to overtake the slow-moving vehicle in front of the vehicle by changing lanes, and improve the overall average speed and traffic efficiency of the vehicle.

At present, the automatic driving system mainly relies on the detection results of the perception system when the lane change is triggered to change the vehicle lane. Due to the limitation of the inherent perception ability of the perception system (radar, camera and other sensors) equipped with the vehicle, the self-vehicle is in the process of changing lanes to the target. After the lane, the perception system detects a slower vehicle ahead of the vehicle, causing the vehicle to drop to a lower driving speed. In addition, when the traffic density in the original lane is high and the vehicle speed is high, it is difficult for the ego vehicle to switch back to the original lane and can only drive slowly in the target lane, resulting in a decrease in the overall average speed and traffic efficiency of the ego vehicle .

Contents of the invention

In order to solve the above technical problems, the present application discloses a vehicle lane change control method, through the traffic flow density information in the second lane adjacent to the first lane and the average vehicle speed information corresponding to the second lane and the first lane respectively, After analyzing the traffic conditions of the first lane and the second lane, the target lane is recommended, which not only improves the traffic efficiency and average speed of the target vehicle, but also avoids invalid lane changes.

In order to achieve the purpose of the above invention, the present application provides a vehicle lane change control method, the method comprising:

In response to the lane change request, acquiring the first average vehicle speed corresponding to the first lane and the second average vehicle speed and traffic flow density information corresponding to at least one second lane within the target period, the first lane being the lane where the target vehicle is located, The second lane is a lane adjacent to the first lane, and the driving direction of the first lane is the same as the corresponding driving direction of the second lane;

determining a target lane from the at least one second lane according to the first average vehicle speed, at least one second average vehicle speed, and at least one piece of traffic flow density information;

Controlling the target vehicle to change lanes to the target lane.

In some embodiments, the method also includes:

Obtain the lane change waiting time and the lane change execution confirmation time corresponding to the target lane, the lane change waiting time is the time for the target vehicle to wait for the lane change to the target lane; the lane change execution confirmation time is the confirmation time The time period during which the target vehicle can change to the target lane;

The controlling the target vehicle to change lanes to the target lane includes:

When the lane change waiting time reaches the lane change execution confirmation time, the target vehicle is controlled to change to the target lane.

In some embodiments, the method also includes:

Obtain the first lane-changing safety distance and the second lane-changing safety distance corresponding to the target vehicle; the first lane-changing safety distance is the distance between the first vehicle and the target vehicle in the target lane, and the first The vehicle is a vehicle adjacent to the target vehicle and located behind the target vehicle; the second lane-changing safety distance is the distance between the second vehicle in the target lane and the target vehicle, and the second vehicle is a vehicle adjacent to and in front of the target vehicle;

The controlling the target vehicle to change lanes to the target lane when the lane change waiting time reaches the lane change execution confirmation time includes:

When the lane-changing waiting time reaches the lane-changing execution confirmation time, and both the first lane-changing safety distance and the second lane-changing safety distance meet the preset safety distance threshold, the target vehicle is controlled to Change the target lane.

In some implementation manners, the acquiring the confirmation duration of lane change includes:

Obtaining the number of lanes of the road where the target vehicle is located and the duration for which the change state of the target lane satisfies a preset change condition;

In a case where the duration reaches a preset duration threshold, a lane change execution confirmation time corresponding to the target lane is determined according to the number of lanes and the duration.

In some implementations, the method for generating the lane change request includes:

Obtaining the preset driving speed of the target vehicle, the driving speed of a third vehicle in the first lane, the following distance between the target vehicle and the third vehicle, and the number of lanes of the road where the target vehicle is located ; The third vehicle is a vehicle located in front of the target vehicle;

determining a first speed difference based on the preset driving speed and the driving speed;

determining a reference speed difference according to the number of lanes and the following distance;

In the case that the first speed difference is greater than or equal to the reference speed difference, a lane change request is generated.

In some implementation manners, said acquiring traffic flow density information includes:

Obtaining the number of reference vehicles in the second lane within the target period; the reference vehicle is a vehicle whose relative positional relationship with the target vehicle satisfies a preset position change condition;

Determine traffic flow density information in the second lane according to the number of reference vehicles.

In some embodiments, the determining the target lane from the at least one second lane according to the first average vehicle speed, at least one second average vehicle speed and at least one traffic flow density information includes:

According to the first average vehicle speed and the at least one second average vehicle speed, respectively determine the second speed difference corresponding to each of the at least one second lane;

A target lane is determined from the at least one second lane according to the second speed difference corresponding to each of the at least one second lane and the traffic flow density information.

The present application also provides a vehicle lane change control device, the device comprising:

The first acquisition module is configured to acquire the first average vehicle speed corresponding to the first lane and the second average vehicle speed and traffic flow density information corresponding to at least one second lane within the target time period in response to the lane change request, the first lane is the lane where the target vehicle is located, the second lane is a lane adjacent to the first lane, and the driving direction of the first lane is the same as the corresponding driving direction of the second lane;

A first determining module, configured to determine a target lane from the at least one second lane according to the first average vehicle speed, at least one second average vehicle speed, and at least one piece of traffic flow density information;

A lane change control module, configured to control the target vehicle to change lanes to the target lane.

The present application also provides a vehicle lane change control device, the device includes a processor and a memory, at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is controlled by the The processor is loaded and executed to realize the vehicle lane change control method as described above.

The present application also provides a computer-readable storage medium, at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or at least one program is loaded and executed by a processor as described above Vehicle lane change control method.

Implementing the embodiment of the present application has the following beneficial effects:

In the vehicle lane change control method of the present application, through the traffic flow density information in the second lane adjacent to the first lane and the average vehicle speed information corresponding to the second lane and the first lane, the first lane and the second lane After the traffic situation is analyzed, the target lane is recommended, which not only improves the traffic efficiency and average speed of the target vehicle, but also avoids invalid lane changes.

Description of drawings

In order to more clearly illustrate the vehicle lane change control method, device, device and storage medium described in the present application, the accompanying drawings required for the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only examples For some embodiments of the application, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

FIG. 1 is a schematic diagram of an implementation environment of a vehicle lane change control method provided in an embodiment of the present application;

FIG. 2 is a schematic flow chart of a vehicle lane change control method provided in an embodiment of the present application;

Fig. 3 is a schematic flow chart of a better vehicle lane change control method provided by the embodiment of the present application;

FIG. 4 is a schematic flowchart of a method for generating a lane change request provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a vehicle lane change control device provided in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or server comprising a series of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

Please refer to Figure 1, which shows a schematic diagram of the implementation environment provided by the embodiment of the present application. The implementation environment may include:

At least one terminal 01 and at least one server 02. The at least one terminal 01 and the at least one server 02 can perform data communication through a network.

In an optional embodiment, the terminal 01 may be the executor of the vehicle lane change control method. Terminal 01 may include but not limited to vehicle-mounted terminals, smartphones, desktop computers, tablet computers, notebook computers, smart speakers, digital assistants, augmented reality (augmented reality, AR)/virtual reality (virtual reality, VR) devices, smart wearable devices, etc. type of electronic equipment. The operating system running on the terminal 01 may include but not limited to Android system, IOS system, linux, windows, Unix, etc.

The server 02 may provide the server 01 with a first average vehicle speed corresponding to the first lane, a second average vehicle speed corresponding to at least one second lane and traffic flow density information data. Optionally, the server 02 can be an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, and can also provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, and network services Cloud servers for basic cloud computing services such as cloud communications, middleware services, domain name services, security services, CDN (ContentDeliveryNetwork, content distribution network), and big data and artificial intelligence platforms.

Please refer to Figure 2, which shows a schematic flow chart of a vehicle lane change control method provided by the embodiment of the present application. This description provides the method operation steps as described in the embodiment or flow chart, but based on routine; or without inventive step The labor may include more or fewer steps. The sequence of steps listed in the embodiment is only one of the execution sequences of many steps, and does not represent the only execution sequence. The vehicle lane change control method can be executed in accordance with the method sequence shown in the embodiment or the accompanying drawings. Specifically as shown in Figure 2, the method includes:

S201, in response to the lane change request, acquire the first average vehicle speed corresponding to the first lane and the second average vehicle speed and traffic flow density information corresponding to at least one second lane in the target time period;

In the embodiment of the present application, the first lane is the lane where the target vehicle is located. The target vehicle is a vehicle that sends a lane-changing request, and the target vehicle may be a vehicle driving in an automatic driving mode. The second lane is a lane adjacent to the first lane; wherein, the driving direction of the first lane is the same as that of the second lane; lanes in the same direction of travel. The second lane can consist of one or two lanes. Traffic flow density information can characterize the density of vehicles on the second lane. The lane change request may be an instruction instructing the target vehicle to start the lane change control process. The duration corresponding to the target time period can be preset. The start time of the target time period can be determined according to the trigger time of the lane change request. The start time of the target time period can be the trigger time of the lane change request or the lane change time. A certain time before the trigger time of the request may also be a certain time after the trigger time of the lane change request.

Optionally, to obtain the first average vehicle speed corresponding to the first lane within the target time period, the following method may be used:

In some exemplary embodiments, the average vehicle speed of the target vehicle within the target period may be obtained, and the average vehicle speed of the target vehicle may be determined as the first average vehicle speed corresponding to the first lane.

In some exemplary embodiments, the first target road section passed by the target vehicle within the target time period can be obtained, and the average vehicle speed corresponding to at least one first driving vehicle on the first target road section within the target time period can be obtained; The average vehicle speed corresponding to the vehicle is determined as the first average vehicle speed corresponding to the first lane.

Optionally, the second average vehicle speed corresponding to the second lane within the target period can be acquired in the following manner:

In an exemplary embodiment, the second driving vehicle detected by the target vehicle in the second lane within the target time period may be acquired, the average vehicle speed corresponding to the second driving vehicle may be obtained, and the average vehicle speed corresponding to the second driving vehicle may be determined is the second average vehicle speed corresponding to the second lane. Wherein, the number of the second driving vehicle is greater than or equal to zero.

In an example, when the number of the second driving vehicle is equal to 0, the average vehicle speed corresponding to the second driving vehicle may be the preset travelable speed corresponding to the target vehicle; the preset travelable speed may be the target vehicle at the target The maximum driving speed during the time period.

In another example, when the number of the second traveling vehicle is equal to 1, the average vehicle speed corresponding to the second traveling vehicle may be the average speed of the second traveling vehicle within the target time period.

In another example, when the number of the second traveling vehicles is greater than 1, the average vehicle speed corresponding to the second traveling vehicles may be the average speed of multiple second traveling vehicles within the target time period.

In another exemplary embodiment, the first target road segment passed by the target vehicle within the target time period may be acquired, the second target road segment corresponding to the first target road segment in the second lane may be acquired, and the second target road segment within the target time period may be acquired. For the third traveling vehicle, the average vehicle speed corresponding to the third traveling vehicle is obtained, and the average vehicle speed corresponding to the third traveling vehicle is determined as the second average vehicle speed corresponding to the second lane. Wherein, the number of the third traveling vehicle is greater than or equal to zero.

Optionally, the following methods may be used to obtain the traffic flow density information corresponding to at least one second lane in the target period:

In some exemplary embodiments, the number of reference vehicles in the second lane within the target period can be obtained; the reference vehicle is a vehicle whose relative positional relationship with the target vehicle satisfies a preset position change condition; according to the number of reference vehicles, determine Traffic flow density information in the second lane. Wherein, the preset position change condition may be that the reference vehicle travels from the rear of the target vehicle to the front of the target vehicle, or the reference vehicle travels from the front of the target vehicle to the rear of the target vehicle during driving.

In some exemplary embodiments, the target vehicle may detect the fourth vehicle in the second lane within the target time period, and determine the traffic flow density information in the second lane according to the number of the fourth vehicle.

In some exemplary embodiments, a lane change request may be triggered when it is detected that the target vehicle satisfies a preset lane change condition; the preset lane change condition may be based on the driving data of the target vehicle, the driving of the vehicle in front of the target vehicle data and the lane change conditions determined by the lane data of the road where the target vehicle is located.

S203. Determine a target lane from at least one second lane according to the first average vehicle speed, at least one second average vehicle speed, and at least one piece of traffic flow density information.

In the embodiment of the present application, the target lane may be the lane-changing recommended lane of the target vehicle.

Optionally, according to the first average vehicle speed and at least one second average vehicle speed, the respective second speed differences corresponding to at least one second lane can be respectively determined; according to the respective second speed differences corresponding to at least one second lane and traffic The traffic density information determines the target lane from at least one second lane.

Specifically, the second speed difference may be the difference between the first average vehicle speed and the second average vehicle speed.

In some exemplary embodiments, the configuration parameters may be weighted; based on the weighted configuration parameters, the second speed difference corresponding to each second lane and traffic flow density information, the target lane is determined from at least one second lane. Wherein, the weighted configuration parameters may represent weighting coefficients corresponding to each second speed difference and each piece of traffic flow density information; the sum of each weighting coefficient is equal to 1. This weighting configuration parameter is dynamically generated.

Specifically, the weighting coefficients corresponding to the second speed difference and traffic flow density information can be equal to 0 or equal to 1, and the weighting coefficient is 1. The second lane corresponding to the parameter (such as the second speed difference or traffic flow density information) is target lane.

In one example, when the second speed difference includes two, for example, it can be the second average vehicle speed, including the first sub-speed difference and the second sub-speed difference; the first flat sub-speed difference can be obtained a first comparison result with a preset lane-changing reference value, a second comparison result between the second sub-speed difference and a preset lane-changing reference value; and the first sub-speed difference and the second sub-speed difference The third comparison result between; determine the weighted configuration parameter according to the first comparison result, the second comparison result and the third comparison result. Wherein, the preset lane-changing reference value may be 0; the first comparison result may be that the first sub-speed difference is greater than, equal to or smaller than the preset lane-changing reference value; the second comparison result may be that the second sub-speed difference is greater than, equal to or less than a preset reference value for lane change; the third comparison result may be that the first sub-speed difference is greater than, equal to or less than the second sub-speed difference.

In another example, when the second speed difference includes one, a fourth comparison result between the second speed difference and the preset lane-changing reference value may be obtained, and the weighted configuration parameter is determined according to the fourth comparison result .

S205, controlling the target vehicle to change lanes to the target lane.

In some exemplary embodiments, after the target lane is determined, the target vehicle may be directly controlled to change lanes to the target lane.

In some other exemplary embodiments, after the target lane is determined, the first lane-changing safety distance and the second lane-changing safety distance corresponding to the target vehicle can be obtained; When both meet the preset safety distance threshold, the target vehicle is controlled to change lanes to the target lane. Among them, the first lane-changing safety distance is the distance between the first vehicle and the target vehicle in the target lane, and the first vehicle is a vehicle adjacent to the target vehicle and behind the target vehicle; the second lane-changing safety distance is the distance between the target vehicle and the target vehicle. The distance between the second vehicle and the target vehicle. The second vehicle is a vehicle adjacent to the target vehicle and located in front of the target vehicle.

In this embodiment, the application uses the traffic flow density information in the second lane adjacent to the first lane and the average vehicle speed information corresponding to the second lane and the first lane respectively to analyze the traffic flow of the first lane and the second lane. After the situation is analyzed, the target lane is recommended, which not only improves the traffic efficiency and average speed of the target vehicle, but also avoids invalid lane changes.

As shown in Fig. 3 , it is a schematic flowchart of a better vehicle lane change control method provided by the embodiment of the present application, and the details are as follows.

S301, in response to the lane change request, acquire the first average vehicle speed corresponding to the first lane and the second average vehicle speed and traffic flow density information corresponding to at least one second lane in the target time period;

S303. Determine a target lane from at least one second lane according to the first average vehicle speed, at least one second average vehicle speed, and at least one piece of traffic flow density information;

In one example, when the second speed difference includes two, that is, there are two second lanes, for example, the second average vehicle speed may include the first sub-speed difference and the second sub-speed difference; the configuration method of the weighted configuration parameters and the determination method of the target lane are as follows:

Wherein, the first sub-speed difference corresponds to the second lane on the left of the first lane, and the second sub-speed difference corresponds to the second lane on the right of the first lane as an example, the target lane can be determined using the following function model 1.

Function model one: Lt=f(a*Vdl, b*Vdr, c*fdl, d*fdr)

Wherein, Vdl represents the first sub-speed difference, Vdr represents the second sub-speed difference; fdl represents the first traffic flow density of the second lane corresponding to the first sub-speed difference; fdr represents the corresponding second sub-speed difference The second traffic flow density of the second lane; a, b, c and d all represent weighting coefficients, and the sum of a, b, c and d is equal to 1.

Specifically, one of a, b, c, and d is equal to 1, and the others are equal to 0; the second lane corresponding to the parameter equal to 1 among a, b, c, and d is the second lane.

Case 1: In the case of Vdl<0 and Vdr<0,

If Vdl>Vdr, at this time a=0, b=1, c=0, d=0, then the corresponding target lane is the second lane on the right of the first lane.

If Vdl≤Vdr, then a=1, b=0, c=0, d=0, then the corresponding target lane is the second lane on the left of the first lane.

Case 2: In the case of Vdl>0 and Vdr≤0, a=0, b=1, c=0, d=0, the corresponding target lane is the second lane on the right of the first lane.

Case 3: In the case of Vdl<0 and Vdr≥0, a=1, b=0, c=0, d=0, the corresponding target lane is the second lane on the left of the first lane.

Situation 4: In the case of Vdl>0 and Vdr>0, at this time a=0, b=0, c=0, d=0, then the target vehicle keeps driving in the first lane, and in the two second lanes There is no target lane to change lanes.

Situation 5: In the case of Vdl=0 and Vdr=0,

If fdl>fdr, at this time a=0, b=0, c=0, d=1, then the corresponding target lane is the second lane on the right of the first lane.

If fdl≤fdr, at this time a=0, b=0, c=1, d=0, then the corresponding target lane is the second lane on the left of the first lane.

In another example, when the second speed difference includes one, that is, if there is a second lane, the target lane may be determined using the following function model 2.

Function model two: Lt=f(s*Vd, h*fd)

Among them, Vd represents the second speed difference corresponding to the second lane, fd represents the traffic flow density of the second lane; both s and h represent weighting coefficients, and the sum of s and h is equal to 1.

Specifically, one of s and h is equal to 1, and the others are equal to 0; the second lane corresponding to the parameter equal to 1 in s and h is the second lane.

Case 1: In the case of Vd≤0, s=1 and h=0 at this time, the second lane is determined as the target lane.

Case 2: In the case of Vd>0, s=0, h=0, the target vehicle keeps driving in the first lane, and the second lane cannot become the target lane for lane change.

S305. Obtain the waiting time for lane change and the confirmation time for lane changing execution corresponding to the target lane.

In the embodiment of the present application, the waiting time for changing lanes is the time for the target vehicle to wait for the lane change to the target lane; the execution confirmation time for changing lanes is the time for confirming that the target vehicle can change to the target lane;

In some exemplary embodiments, the number of lanes of the road where the target vehicle is located and the duration of the change state of the target lane satisfying the preset change condition are acquired; when the duration reaches the preset duration threshold, according to the number of lanes and the duration Determine the lane change execution confirmation time corresponding to the target lane. Wherein, the change state of the target lane satisfies the preset change condition, which may indicate that the selected target lane is always the same second lane. The lane change execution confirmation time is greater than or equal to the duration.

In an example, the calibration duration may be determined according to the lane data; the sum of the calibration duration and the duration is determined as the lane change execution confirmation duration.

In one example, according to the third function model, the confirmation time for lane change can be determined;

Function model three: td=f(N, tx)

Among them, td represents the confirmation time of lane change, N represents the number of lanes, and tx represents the duration.

Specifically, the determination of the confirmation time for lane change includes the following methods:

Method 1: In the case of N≥3, tx is equal to the preset duration threshold; then the calibration duration tdx is equal to 0, and the lane change execution confirmation duration is td=tx+0.

Mode 2, in the case of N<3, tx is equal to the preset duration threshold; the calibration duration tdx is equal to the preset calibration value, and the default calibration value is a natural number greater than 0. td=tx+tdx.

In another exemplary embodiment, when the duration is less than the preset duration threshold, the control target vehicle keeps driving in the first lane until the duration reaches the preset duration threshold.

S307. When the waiting time for lane change reaches the confirmation time for lane change execution, control the target vehicle to change lanes to the target lane.

In some exemplary embodiments, when the lane change waiting time reaches the lane change execution confirmation time, the target vehicle may be directly controlled to change to the target lane.

In other exemplary embodiments, the first lane-changing safety distance and the second lane-changing safety distance corresponding to the target vehicle can be obtained; when the lane-changing waiting time reaches the lane-changing execution confirmation time, and the first lane-changing safety distance and the second lane-changing safety distance When the two lane-changing safety distances both meet the preset safety distance thresholds, the target vehicle is controlled to change lanes to the target lane. Among them, the first lane-changing safety distance is the distance between the first vehicle and the target vehicle in the target lane, and the first vehicle is a vehicle adjacent to the target vehicle and behind the target vehicle; the second lane-changing safety distance is the distance between the target vehicle and the target vehicle. The distance between the second vehicle and the target vehicle. The second vehicle is a vehicle adjacent to the target vehicle and located in front of the target vehicle.

In an example, the first traveling speed of the target vehicle, the second traveling speed and the first acceleration of the first vehicle, and the third traveling speed and the second acceleration of the second vehicle may be acquired; according to the first traveling speed, the second traveling speed The speed and the first acceleration determine the first lane-changing safety distance; according to the first driving speed, the third driving speed and the second acceleration, determine the second lane-changing safety distance.

In this embodiment, after the target lane is determined, the application determines the lane change execution confirmation time length according to the number of lanes and the stability of the target lane, and only when the lane change waiting time reaches the lane change execution confirmation time length Lane-changing control will be performed, that is, the target vehicle will wait for the target lane to be in a stable state before performing lane-changing control. This method avoids invalid lane-changing caused by inaccurate traffic flow judgments, and further improves the traffic of the target vehicle. efficiency and average travel speed.

FIG. 4 is a schematic flowchart of a method for generating a lane change request provided in an embodiment of the present application, and the details are as follows.

S401. Obtain the preset driving speed of the target vehicle, the driving speed of the third vehicle in the first lane, the following distance between the target vehicle and the third vehicle, and the number of lanes of the road where the target vehicle is located; the third vehicle is located in the target vehicle the vehicle ahead;

In the embodiment of the present application, the preset driving speed may be the maximum driving speed of the target vehicle at the current moment, wherein the maximum driving speed may be set according to the speed limit of the first lane and the road section where the target vehicle is located.

S403. Determine a first speed difference based on the preset driving speed and the driving speed;

In some exemplary embodiments, the difference between the preset driving speed and the driving speed may be determined as the first speed difference.

S405. Determine the reference speed difference according to the number of lanes and the following distance;

In some exemplary embodiments, relationship configuration information between the reference speed difference and the number of lanes and the following distance may be acquired; and the reference speed difference is determined according to the relationship configuration information, the number of lanes and the following distance. Wherein, the relationship configuration information may represent the relationship between the reference speed difference and the number of lanes, as well as the relationship between the reference speed difference and the following distance. For example, the lane data is inversely proportional to the reference speed difference, the more lanes there are, the smaller the corresponding reference speed difference. The following distance is proportional to the reference speed difference, the greater the following distance, the greater the corresponding reference speed difference.

S407. In the case that the first speed difference is greater than or equal to the reference speed difference, generate a lane change request.

In another example, when the first speed difference is smaller than the reference speed difference, the control target vehicle keeps driving in the first lane, specifically, it can drive at a reduced speed or at a constant speed.

In this embodiment, the present application comprehensively considers the speed difference between the target vehicle and the vehicle in front (the third vehicle) in the first lane where the target vehicle is located, the number of lanes, and the following distance between the target vehicle and the third vehicle. Parameters are used to generate and judge lane-changing request instructions, improve the accuracy of lane-changing requests, and further improve communication efficiency.

The embodiment of the present application also provides a vehicle lane-changing control device, as shown in Figure 5, which is a schematic structural diagram of a vehicle lane-changing control device provided in the embodiment of the present application; specifically, the device includes :

The first acquisition module 501 is configured to acquire the first average vehicle speed corresponding to the first lane and the second average vehicle speed and traffic flow density information corresponding to at least one second lane within the target time period in response to the lane change request, the first The lane is the lane where the target vehicle is located, the second lane is a lane adjacent to the first lane, and the first lane and the second lane correspond to the same driving direction;

A first determining module 502, configured to determine a target lane from the at least one second lane according to the first average vehicle speed, at least one second average vehicle speed, and at least one piece of traffic flow density information;

A lane change control module 503, configured to control the target vehicle to change lanes to the target lane.

In the embodiment of this application, it also includes:

A duration acquisition module, configured to obtain the lane change waiting time and the lane change execution confirmation time corresponding to the target lane, the lane change waiting time being the time for the target vehicle to wait for the lane change to the target lane; the lane change The execution confirmation time is the time for confirming that the target vehicle can change to the target lane;

The lane change control module 503 includes:

A lane change control unit, configured to control the target vehicle to change lanes to the target lane when the lane change waiting time reaches the lane change execution confirmation time.

In the embodiment of this application, it also includes:

A distance acquisition module, configured to acquire a first lane-changing safety distance and a second lane-changing safety distance corresponding to the target vehicle; the first lane-changing safety distance is the distance between the first vehicle and the target vehicle in the target lane distance, the first vehicle is a vehicle adjacent to the target vehicle and behind the target vehicle; the second lane-changing safety distance is the distance between the second vehicle and the target vehicle in the target lane, The second vehicle is a vehicle adjacent to and in front of the target vehicle;

The lane change control unit includes:

A lane change control subunit, configured to wait for the lane change to reach the lane change execution confirmation time, and both the first lane change safety distance and the second lane change safety distance meet a preset safety distance threshold , controlling the target vehicle to change lanes to the target lane.

In the embodiment of this application, the distance acquisition module includes:

A first acquisition unit, configured to acquire the number of lanes of the road where the target vehicle is located and the duration for which the transition state of the target lane satisfies a preset transition condition;

A duration determining unit, configured to determine, according to the number of lanes and the duration, a lane change execution confirmation duration corresponding to the target lane when the duration reaches a preset duration threshold.

In the embodiment of this application, it also includes:

A second acquisition module, configured to acquire the preset driving speed of the target vehicle, the driving speed of a third vehicle in the first lane, the following distance between the target vehicle and the third vehicle, and the The number of lanes of the road where the target vehicle is located; the third vehicle is a vehicle located in front of the target vehicle;

A second determining module, configured to determine a first speed difference based on the preset driving speed and the driving speed;

A third determining module, configured to determine a reference speed difference according to the number of lanes and the following distance;

A request generating module, configured to generate a lane change request when the first speed difference is greater than or equal to the reference speed difference.

In the embodiment of this application, the first acquisition module 501 includes:

A second acquisition unit, configured to acquire the number of reference vehicles in the second lane within the target time period; the reference vehicle is a vehicle whose relative positional relationship with the target vehicle satisfies a preset position change condition;

A first determining unit, configured to determine traffic flow density information in the second lane according to the number of reference vehicles. .

In the embodiment of this application, the first determination module includes:

A second determining unit, configured to determine second speed differences corresponding to the at least one second lane respectively according to the first average vehicle speed and the at least one second average vehicle speed;

The third determining unit is configured to determine a target lane from the at least one second lane according to the second speed difference corresponding to the at least one second lane and the traffic flow density information.

It should be noted that the device and method embodiments in the device embodiments are based on the same inventive concept.

An embodiment of the present application provides a vehicle lane change control device, the device includes a processor and a memory, at least one instruction or at least one program is stored in the memory, at least one instruction or at least one program is loaded and executed by the processor to achieve the above The vehicle lane change control method described in the method embodiment.

Further, Fig. 6 shows a schematic diagram of the hardware structure of an electronic device for implementing the vehicle lane change control method provided by the embodiment of the present application, and the electronic device may participate in forming or include the vehicle provided by the embodiment of the present application Lane change control. As shown in FIG. 6, the electronic device 60 may include one or more (shown by 602a, 602b, ..., 602n in the figure) processor 602 (the processor 602 may include but not limited to a microprocessor MCU or programmable A processing device such as a logic device FPGA, etc.), a memory 604 for storing data, and a transmission device 606 for a communication function. In addition, it can also include: a display, an input/output interface (I/O interface), a universal serial bus (USB) port (which can be included as one of the ports of the I/O interface), a network interface, a power supply and/or camera. Those of ordinary skill in the art can understand that the structure shown in FIG. 6 is only a schematic diagram, which does not limit the structure of the above-mentioned electronic device. For example, electronic device 60 may also include more or fewer components than shown in FIG. 6 , or have a different configuration than that shown in FIG. 6 .

It should be noted that the one or more processors 602 and/or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuit may be implemented in whole or in part as software, hardware, firmware or other arbitrary combinations. In addition, the data processing circuit can be a single independent processing module, or be fully or partially integrated into any one of the other elements in the electronic device 60 (or mobile device). As mentioned in the embodiment of the present application, the data processing circuit is used as a processor control (for example, the selection of the terminal path of the variable resistor connected to the interface).

The memory 604 can be used to store software programs and modules of application software, such as the program instruction/data storage device corresponding to the vehicle lane change control method described in the embodiment of the present application, the processor 602 runs the software program stored in the memory 604 and module, so as to execute various functional applications and data processing, that is, to realize the above-mentioned vehicle lane change control method. The memory 604 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 604 may further include memory located remotely from the processor 602, and these remote memories may be connected to the electronic device 60 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 606 is used to receive or transmit data via a network. The specific example of the above network may include a wireless network provided by the communication provider of the electronic device 60 . In one example, the transmission device 606 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one embodiment, the transmission device 606 may be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet in a wireless manner.

The display can be, for example, a touchscreen liquid crystal display (LCD) that enables a user to interact with the user interface of the electronic device 60 (or mobile device).

Embodiments of the present application also provide a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least A section of program, the at least one instruction or the at least one section of program is loaded and executed by the processor to implement the vehicle lane change control method provided by the above method embodiment.

Optionally, in this embodiment, the foregoing storage medium may be located in at least one network server among multiple network servers of the computer network. Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk Various media that can store program codes such as discs or optical discs.

It should be noted that: the order of the above-mentioned embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing describes specific embodiments of the present application. Other implementations are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain embodiments.

According to an aspect of the present application there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the various optional implementation manners above.

Each embodiment in the present application is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and electronic device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for relevant parts, please refer to the part of the description of the method embodiments.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above embodiments can be completed by hardware, and can also be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage medium mentioned may be a read-only memory, a magnetic disk or an optical disk, and the like.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the application shall be included in the protection of the application. within range.

Claims (10)

1. A vehicle lane change control method, the method comprising:

responding to a lane change request, and acquiring a first average vehicle speed corresponding to a first lane and a second average vehicle speed corresponding to at least one second lane in a target period and traffic flow density information, wherein the first lane is a lane where a target vehicle is located, the second lane is a lane adjacent to the first lane, and the running direction of the first lane is the same as the running direction corresponding to the second lane;

determining a target lane from the at least one second lane according to the first average vehicle speed, the at least one second average vehicle speed and the at least one traffic flow density information;

And controlling the target vehicle to change lanes to the target lane.

2. The vehicle lane-change control method according to claim 1, characterized in that the method further comprises:

obtaining a lane change waiting time and a lane change execution confirmation time corresponding to the target lane, wherein the lane change waiting time is the time for the target vehicle to wait for a lane change to the target lane; the lane change execution confirmation time is time for confirming that the target vehicle can be changed to the target lane;

the controlling the target vehicle to change lanes to the target lane includes:

and controlling the target vehicle to change the lane to the target lane under the condition that the lane change waiting time reaches the lane change execution confirmation time.

3. The vehicle lane-change control method according to claim 2, characterized in that the method further comprises:

acquiring a first lane change safety distance and a second lane change safety distance corresponding to the target vehicle; the first lane change safety distance is the distance between a first vehicle and a target vehicle in the target lane, and the first vehicle is a vehicle adjacent to the target vehicle and positioned behind the target vehicle; the second lane change safety distance is the distance between a second vehicle and a target vehicle in the target lane, and the second vehicle is a vehicle adjacent to and in front of the target vehicle;

Controlling the target vehicle to change lanes to the target lane under the condition that the lane change waiting time reaches the lane change execution confirmation time; comprising the following steps:

and controlling the target vehicle to change lanes to the target lane under the condition that the lane change waiting time reaches the lane change execution confirmation time and the first lane change safety distance and the second lane change safety distance both meet a preset safety distance threshold.

4. The vehicle lane-change control method according to claim 2, wherein the obtaining a lane-change execution confirmation time period includes:

acquiring the number of lanes of a road where the target vehicle is located and the duration time when the change state of the target lane meets a preset change condition;

and under the condition that the duration reaches a preset duration threshold, determining the lane change execution confirmation duration corresponding to the target lane according to the number of lanes and the duration.

5. The vehicle lane change control method according to claim 1, wherein the lane change request generation method includes:

acquiring a preset running speed of the target vehicle, a running speed of a third vehicle in the first lane, a following distance between the target vehicle and the third vehicle and the number of lanes of a road where the target vehicle is located; the third vehicle is a vehicle located in front of the target vehicle;

Determining a first speed difference based on the preset travel speed and the travel speed;

determining a reference speed difference value according to the number of lanes and the following distance;

and generating a channel change request when the first speed difference value is greater than or equal to the reference speed difference value.

6. The vehicle lane-change control method according to claim 1, wherein the acquiring traffic flow density information includes:

acquiring the number of reference vehicles in the second lane in the target period; the reference vehicle is a vehicle whose relative positional relationship with the target vehicle satisfies a preset positional change condition;

and determining traffic flow density information in the second lane according to the number of the reference vehicles.

7. The vehicle lane-change control method according to claim 1, wherein the determining a target lane from the at least one second lane based on the first average vehicle speed, at least one second average vehicle speed, and at least one traffic flow density information includes:

determining second speed difference values corresponding to the at least one second vehicle road respectively according to the first average vehicle speed and the at least one second average vehicle speed;

And determining a target lane from the at least one second lane according to the second speed difference value and the traffic flow density information which are respectively corresponding to the at least one second lane.

8. A lane change control apparatus for a vehicle, the apparatus comprising:

the system comprises a first acquisition module, a second acquisition module and a first control module, wherein the first acquisition module is used for responding to a lane change request, acquiring a first average vehicle speed corresponding to a first lane in a target period, a second average vehicle speed corresponding to at least one second lane and traffic flow density information, the first lane is a lane where a target vehicle is located, the second lane is a lane adjacent to the first lane, and the running direction of the first lane is the same as the running direction corresponding to the second lane;

the first determining module is used for determining a target lane from the at least one second lane according to the first average vehicle speed, the at least one second average vehicle speed and the at least one traffic flow density information;

and the lane change control module is used for controlling the target vehicle to change lanes to the target lane.

9. A vehicle lane change control apparatus, characterized in that the apparatus comprises a processor and a memory in which at least one instruction or at least one program is stored, the at least one instruction or the at least one program being loaded and executed by the processor to realize the vehicle lane change control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, the at least one instruction or the at least one program being loaded by a processor and executing the vehicle lane change control method according to any one of claims 1 to 7.

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