CN116189416A - Vehicle lane change control method, device, equipment and storage medium - Google Patents
Vehicle lane change control method, device, equipment and storage medium Download PDFInfo
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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
Technical Field
The present disclosure relates to the field of lane change control technologies for vehicles, and in particular, to a lane change control method, device, equipment, and storage medium for a vehicle.
Background
The automatic driving system can control the vehicle to run by changing the channel to surpass the vehicle running in front of the vehicle at a low speed, and the overall average speed and the passing efficiency of the vehicle are improved.
At present, an automatic driving system mainly relies on a sensing system detection result when a lane change trigger to change lanes of a vehicle, and the sensing system detects that a slower driving vehicle is in front of the vehicle after the lane change to a target lane due to the limitation of the inherent sensing capability of the sensing system (such as a radar sensor, a camera sensor and the like) equipped with the vehicle, so that the vehicle is reduced to a lower driving speed. In addition, when the vehicle flow density in the original lane is high and the vehicle speed is high, the vehicle is difficult to change back to the original lane to travel, and the vehicle can only travel slowly in the target lane, so that the overall average vehicle speed and the passing efficiency of the vehicle are reduced.
Disclosure of Invention
In order to solve the technical problems, the application discloses a vehicle lane change control method, which is used for recommending a target lane after analyzing traffic conditions of a first lane and a second lane through traffic flow density information in a second lane adjacent to the first lane and average vehicle speed information corresponding to the second lane and the first lane, so that the traffic efficiency and the average running speed of the target vehicle are improved, and invalid lane change can be avoided.
In order to achieve the above object, the present application provides a vehicle lane change control method, which includes:
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.
In some embodiments, 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.
In some embodiments, 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.
In some embodiments, the obtaining the lane change execution acknowledgement time length 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.
In some embodiments, the method for generating the lane change request 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.
In some embodiments, 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.
In some embodiments, the determining the 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 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.
The application also provides a vehicle lane change control device, the device include:
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.
The application also provides a vehicle lane change control device, which comprises a processor and a memory, wherein at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor to realize the vehicle lane change control method.
The present application also provides a computer readable storage medium having stored therein at least one instruction or at least one program loaded by a processor and executing the vehicle lane change control method as described above.
The implementation of the embodiment of the application has the following beneficial effects:
according to the vehicle lane change control method, through traffic flow density information in the second lane adjacent to the first lane and average vehicle speed information corresponding to the second lane and the first lane, after traffic conditions of the first lane and the second lane are analyzed, recommendation of the target lane is conducted, so that not only is the passing efficiency and average running speed of the target vehicle improved, but also ineffective lane change can be avoided.
Drawings
In order to more clearly describe the vehicle lane change control method, apparatus, device and storage medium described in the present application, the drawings required for the embodiments will be briefly described below, and it will be apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person having ordinary skill in the art.
Fig. 1 is a schematic view of an implementation environment of a vehicle lane change control method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a vehicle lane change control method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a preferred vehicle lane change control method according to an embodiment of the present application;
fig. 4 is a flow chart of a method for generating a channel change request according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a lane change control apparatus for a vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, 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 server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, a schematic diagram of an implementation environment provided in an embodiment of the present application is shown, where 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 may communicate data over a network.
In an alternative embodiment, the terminal 01 may be an operator of the vehicle lane change control method. The terminal 01 may include, but is not limited to, vehicle-mounted terminals, smart phones, desktop computers, tablet computers, notebook computers, smart speakers, digital assistants, augmented Reality (AR)/Virtual Reality (VR) devices, smart wearable devices, and the like. The operating system running on terminal 01 may include, but is not limited to, an android system, an IOS system, linux, windows, unix, and the like.
The server 02 may provide the first average vehicle speed corresponding to the first lane and the second average vehicle speed corresponding to each of the at least one second lane and the traffic flow density information data to the server 01. Alternatively, the server 02 may be an independent physical server, or may be a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (content delivery network), and basic cloud computing services such as big data and an artificial intelligence platform.
Referring to fig. 2, a flow chart of a vehicle lane change control method according to an embodiment of the present application is shown, where the present disclosure provides steps of the method according to the embodiment or the flow chart, but is based on a conventional method; or the non-inventive labor may include more or fewer operational steps. The step sequence listed in the embodiments is only one way of a plurality of step execution sequences, does not represent a unique execution sequence, and the vehicle lane change control method may be executed sequentially according to the methods shown in the embodiments or the drawings. As shown in fig. 2, the method includes:
S201, 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;
in the embodiment of the application, the first lane is a lane in which the target vehicle is located. The target vehicle is a vehicle that issues a lane change request, and the target vehicle may be a vehicle that travels 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 the driving direction of the second lane; for example, the second lane may be a lane located to the left or right of the first lane in the same direction of travel as the first lane. The second lane may include one or two lanes. Traffic flow density information may characterize the density of vehicles on a second lane. The lane change request may be an instruction to instruct the target vehicle to initiate a lane change control flow. The duration corresponding to the target time period may be preset, the start time of the target time period may be determined according to the trigger time of the channel change request, and the start time of the target time period may be the trigger time of the channel change request, a certain time before the trigger time of the channel change request, or a certain time after the trigger time of the channel change request.
Alternatively, the obtaining the first average vehicle speed corresponding to the first lane in the target period may be as follows:
in some exemplary embodiments, an average speed of the target vehicle over the target period may be obtained, and the average speed of the target vehicle may be determined as a first average speed corresponding to the first lane.
In some exemplary embodiments, a first target road segment through which a target vehicle passes in a target period may be acquired, and an average vehicle speed corresponding to at least one first traveling vehicle on the first target road segment in the target period may be acquired; an average vehicle speed corresponding to at least one first traveling vehicle is determined as a first average vehicle speed corresponding to a first lane.
Alternatively, the following manner may be adopted to obtain the second average vehicle speed corresponding to the second vehicle track in the target period:
in one exemplary embodiment, a second running vehicle in a second lane detected by the target vehicle in the target period may be acquired, an average vehicle speed corresponding to the second running vehicle may be acquired, and the average vehicle speed corresponding to the second running vehicle may be determined as a second average vehicle speed corresponding to the second lane. Wherein the number of second traveling vehicles is greater than or equal to 0.
In one example, in a case where the number of the second traveling vehicles is equal to 0, the average vehicle speed corresponding to the second traveling vehicle may be a preset drivable speed corresponding to the target vehicle; the preset drivable speed may be a maximum drivable speed of the target vehicle within the target period.
In another example, in a case where the number of the second running vehicles is equal to 1, the average vehicle speed corresponding to the second running vehicle may be the average speed of the second running vehicle in the target period.
In another example, in a case where the number of the second running vehicles is greater than 1, the average vehicle speed corresponding to the second running vehicles may be an average speed of the plurality of second running vehicles in the target period.
In another exemplary embodiment, a first target road segment through which the target vehicle passes in the target period may be acquired, a second target road segment corresponding to the first target road segment in the second road may be acquired, a third running vehicle on the second target road segment in the target period may be acquired, an average vehicle speed corresponding to the third running vehicle may be acquired, and the average vehicle speed corresponding to the third running vehicle may be determined as a second average vehicle speed corresponding to the second road. Wherein the number of third traveling vehicles is greater than or equal to 0.
Optionally, the method for obtaining traffic flow density information corresponding to at least one second lane in the target period may be as follows:
in some exemplary embodiments, the number of reference vehicles in the second lane within the target period may be acquired; the reference vehicle is a vehicle whose relative positional relationship with the target vehicle satisfies a preset positional change condition; traffic flow density information in the second lane is determined based on the number of reference vehicles. 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 that the reference vehicle travels from the front of the target vehicle to the rear of the target vehicle during traveling.
In some exemplary embodiments, a fourth traveling vehicle in the second lane detected by the target vehicle during the target period may be acquired, and traffic flow density information in the second lane may be determined based on the number of fourth traveling vehicles.
In some exemplary embodiments, the lane change request may be triggered if it is detected that the target vehicle satisfies a preset lane change condition; the preset lane change condition may be a lane change condition determined based on traveling data of the target vehicle, traveling data of a preceding vehicle of the target vehicle, and lane data of a road on which the target vehicle is located.
S203, determining 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 traffic flow density information.
In the embodiment of the application, the target lane may be a lane change recommended lane of the target vehicle.
Alternatively, the second speed difference value corresponding to each of the at least one second vehicle lane may be determined 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 corresponding to the at least one second lane.
Specifically, the second speed difference may be a difference between the first average vehicle speed and the second average vehicle speed.
In some exemplary embodiments, the configuration parameters may be weighted; and determining a target lane from at least one second lane based on the weighted configuration parameters, the second speed difference value corresponding to each second lane and the traffic flow density information. The weighting configuration parameters can represent weighting coefficients corresponding to the second speed difference values and the traffic flow density information; the sum of the weighting coefficients is equal to 1. The weighting configuration parameters are dynamically generated.
Specifically, the weighting coefficient corresponding to each of the second speed difference value and the traffic flow density information may be equal to 0 or equal to 1, and the second lane corresponding to the weighting coefficient 1 parameter (for example, the second speed difference value or the traffic flow density information) is the target lane.
In one example, where the second speed difference includes two, for example, a second average vehicle speed may be provided, including a first sub-speed difference and a second sub-speed difference; a first comparison result between the first flat speed difference value and a preset channel change reference value and a second comparison result between the second flat speed difference value and the preset channel change reference value can be obtained; and a third comparison result between the first sub-speed difference and the second sub-speed difference; and determining the weighting configuration parameters according to the first comparison result, the second comparison result and the third comparison result. Wherein, the preset channel changing reference value can be 0; the first comparison result may be that the first sub-speed difference value is greater than, equal to, or less than a preset lane change reference value; the second comparison result may be that the second sub-speed difference value is greater than, equal to, or less than the preset lane change reference value; 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, in the case where the second speed difference value includes one, a fourth comparison result between the second speed difference value and the preset lane-change reference value may be obtained, and the weighted configuration parameter may be 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 other exemplary embodiments, after determining the target lane, the first lane change safety distance and the second lane change safety distance corresponding to the target vehicle may be obtained; and under the condition that the first lane changing safety distance and the second lane changing safety distance meet the preset safety distance threshold, controlling the target vehicle to change lanes to the target lane. The first lane change safety distance is the distance between a first vehicle and a target vehicle in a 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.
In the embodiment, 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 are used for recommending the target lane after the traffic conditions of the first lane and the second lane are analyzed, so that the traffic efficiency and the average running speed of the target vehicle are improved, and ineffective lane changing can be avoided.
Fig. 3 is a schematic flow chart of a preferred vehicle lane change control method according to an embodiment of the present application, which is specifically as follows.
S301, 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;
s303, determining 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 traffic flow density information;
in one example, where the second speed difference includes two, i.e., where there are two second tracks, for example, the second average vehicle speed may include a first sub-speed difference and a second sub-speed difference; the configuration method of the weighted configuration parameters and the determination method of the target lane are as follows:
when the first sub-speed difference corresponds to the second lane on the left side of the first lane and the second sub-speed difference corresponds to the second lane on the right side of the first lane, for example, the target lane may be determined by using the following function model one.
Function model one: lt=f (a Vdl, b Vdr, c fdl, d fdr)
Wherein Vdl represents a first sub-speed difference and Vdr represents a second sub-speed difference; fdl the first traffic flow density of the second lane corresponding to the first differential sub-speed value; fdr represents a second traffic flow density of a second lane corresponding to the second sub-speed difference; a. b, c and d each represent a weighting coefficient, 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 rest is equal to 0; a. and b, c and d, wherein the second lane corresponding to the parameter equal to 1 is the second lane.
Case one: in the case of Vdl <0 and Vdr <0,
if Vdl > Vdr, where a=0, b=1, c=0, d=0, then the corresponding target lane is the second lane to the right of the first lane.
If Vdl is less than or equal to Vdr, a=1, b=0, c=0, d=0, then the corresponding target lane is the second lane on the left of the first lane.
And a second case: in the case where Vdl >0 and Vdr is less than or equal to 0, where a=0, b=1, c=0, d=0, the corresponding target lane is the second lane to the right of the first lane.
And a third case: in the case of Vdl <0 and vdr+.0, where a=1, b=0, c=0, d=0, then its corresponding target lane is the second lane to the left of the first lane.
Case four: in the case of Vdl >0 and Vdr >0, where a=0, b=0, c=0, d=0, the target vehicle remains traveling in the first lane, and there is no target lane of the lane change in the two second lanes.
Case five: in the case of vdl=0 and vdr=0,
if fdl > fdr, where a=0, b=0, c=0, d=1, then the corresponding target lane is the second lane to the right of the first lane.
If fdl is equal to or less than fdr, a=0, b=0, c=1, d=0, then the corresponding target lane is the second lane to the left of the first lane.
In another example, where the second speed difference includes one, i.e., where there is a second lane, the target lane may be determined using the following functional model two.
And a function model II: lt=f (s×vd, h×fd)
Wherein Vd represents a second speed difference value corresponding to the second lane, fd represents a traffic flow density of the second lane; s and h each represent a weighting coefficient, 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; and the second lane corresponding to the parameter equal to 1 in s and h is the second lane.
Case one: in the case where Vd is less than or equal to 0, where s=1 and h=0, the second lane is determined to be the target lane.
And a second case: in the case where Vd > 0, at this time s=0 and h=0, the target vehicle remains traveling in the first lane, and the second lane cannot become the lane-changeable target lane.
S305, obtaining the channel change waiting time and the channel change execution confirmation time corresponding to the target lane.
In the embodiment of the application, the lane change waiting time is the time for the target vehicle to wait for a lane change to a target lane; the lane change execution confirmation time is the time for confirming that the target vehicle can be changed to the target lane;
In some exemplary embodiments, the number of lanes of a road on which a target vehicle is located and the duration for which the change state of the target lane satisfies a preset change condition are acquired; 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. The fact that the change state of the target lane meets the preset change condition can indicate that the selected target lane is always the same second lane. The lane change execution acknowledgement time period is greater than or equal to the duration time period.
In one example, the calibration period may be determined from lane data; and determining the sum of the calibration time length and the duration time length as the channel change execution confirmation time length.
In one example, a lane change execution validation duration may be determined according to a function model three;
and (3) a function model III: td=f (N, tx)
Where td represents the lane change execution confirmation time period, N represents the number of lanes, and tx represents the duration time period.
Specifically, the lane change execution confirmation time length determination includes the following modes:
mode one: in the case that N is more than or equal to 3, tx is equal to a preset duration threshold; the calibration period tdx is equal to 0 and the lane change execution acknowledgment period td=tx+0.
In a second mode, tx is equal to a preset duration threshold in case of N < 3; the calibration period tdx is equal to a preset calibration value, which is a natural number greater than 0. td=tx+ tdx.
In another exemplary embodiment, in the case where the duration is less than the preset duration threshold, the control target vehicle is kept traveling in the first lane until the duration reaches the preset duration threshold.
S307, controlling the target vehicle to change the lane to the target lane when the lane change waiting time reaches the lane change execution confirmation time.
In some exemplary embodiments, in the case where the lane change waiting time period reaches the lane change execution confirmation time period, the target vehicle may be directly controlled to change lanes to the target lane.
In other exemplary embodiments, a first lane change safety distance and a second lane change safety distance corresponding to the target vehicle may be obtained; 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 and the first lane change safety distance and the second lane change safety distance both meet the preset safety distance threshold. The first lane change safety distance is the distance between a first vehicle and a target vehicle in a 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.
In one example, a first travel speed of a target vehicle, a second travel speed and a first acceleration of the first vehicle, and a third travel speed and a second acceleration of the second vehicle may be acquired; determining a first lane change safety distance according to the first running speed, the second running speed and the first acceleration; and determining a second lane change safety distance according to the first running speed, the third running speed and the second acceleration.
In the embodiment, after the target lane is determined, the lane change execution confirmation time is determined according to the number of lanes and the stability of the target lane, and the lane change control is performed only when the lane change waiting time reaches the lane change execution confirmation time, namely, the lane change control is performed when the target vehicle waits for the target lane to be in a stable state, so that the invalid lane change caused by inaccurate traffic flow judgment is avoided, and the traffic efficiency and the average running speed of the target vehicle are further improved.
Fig. 4 is a flow chart of a method for generating a channel change request according to an embodiment of the present application, which is specifically as follows.
S401, acquiring a preset running speed of a target vehicle, a running speed of a third vehicle in a 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 positioned in front of the target vehicle;
In this embodiment of the present application, the preset running speed may be a maximum running speed of the target vehicle at the current moment, where the maximum running speed may be set in the first lane and a speed limit condition of a road section where the target vehicle is located.
S403, determining a first speed difference value based on a preset running speed and a running speed;
in some exemplary embodiments, a difference between the preset travel speed and the travel speed may be determined as the first speed difference.
S405, determining a reference speed difference value 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 following distance may be obtained; and determining a reference speed difference value according to the relation configuration information, the number of lanes and the following distance. The relationship configuration information may characterize a relationship between the reference speed difference and the number of lanes and the reference speed difference and the following distance. For example, the lane data is inversely proportional to the reference speed difference, and the larger the number of lanes, the smaller the corresponding reference speed difference. The following distance and the reference speed difference value are in a proportional relation, and the larger the following distance is, the larger the corresponding reference speed difference value is.
S407, generating a channel change request in case that the first speed difference is greater than or equal to the reference speed difference.
In another example, in the case where the first speed difference is smaller than the reference speed difference, the control target vehicle is kept running in the first lane, and in particular, may be running at a reduced speed or at a constant speed.
In this embodiment, the present application performs the generation and judgment of the lane change request instruction by comprehensively considering the speed difference between the target vehicle and the preceding vehicle (third vehicle) in the first lane where the target vehicle is located, the number of lanes, and the following distance parameter between the target vehicle and the third vehicle, thereby improving the accuracy of the lane change request and further improving the communication efficiency.
The embodiment of the application also provides a vehicle lane change control device, as shown in fig. 5, which is a schematic structural diagram of the vehicle lane change control device provided by the embodiment of the application; specifically, the device comprises:
a first obtaining module 501, configured to obtain, in response to a lane change request, a first average vehicle speed corresponding to a first lane in a target period and second average vehicle speeds and traffic flow density information corresponding to at least one second lane, where the first lane is a lane where a target vehicle is located, and the second lane is a lane adjacent to the first lane, where driving directions corresponding to the first lane and the second lane are the same;
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, the at least one second average vehicle speed, and the at least one traffic flow density information;
and the lane change control module 503 is configured to control the target vehicle to change lanes to the target lane.
In an embodiment of the present application, further includes:
the time length acquisition module is used for acquiring a lane change waiting time length and a lane change execution confirmation time length corresponding to the target lane, wherein the lane change waiting time length is the time length of the target vehicle waiting 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 lane change control module 503 includes:
and the lane change control unit is used for 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.
In an embodiment of the present application, further includes:
the distance acquisition module is used for 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;
The lane change control unit includes:
the lane change control subunit is used for 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.
In an embodiment of the present application, the distance acquisition module includes:
a first obtaining unit, configured to obtain the number of lanes of a road where the target vehicle is located and a duration time when a transformation state of the target lane meets a preset transformation condition;
the duration determining unit is used for determining the lane change execution confirmation duration corresponding to the target lane according to the number of lanes and the duration when the duration reaches a preset duration threshold.
In an embodiment of the present application, further includes:
the second acquisition module is used for acquiring the preset running speed of the target vehicle, the running 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 a road where the target vehicle is located; the third vehicle is a vehicle located in front of the target vehicle;
The second determining module is used for determining a first speed difference value based on the preset running speed and the running speed;
the third determining module is used for determining a reference speed difference value according to the number of lanes and the following distance;
and the request generation module is used for generating a channel changing request under the condition that the first speed difference value is larger than or equal to the reference speed difference value.
In the embodiment of the present application, the first obtaining module 501 includes:
a second acquisition unit configured to acquire 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 positional change condition;
a first determining unit configured to determine traffic flow density information in the second lane according to the number of the reference vehicles. .
In an embodiment of the present application, the first determining module includes:
a second determining unit, configured to determine second speed differences corresponding to the at least one second vehicle lane respectively according to the first average vehicle speed and the at least one second average vehicle speed;
and a third determining unit, configured to determine a target lane from the at least one second lane according to the second speed difference value and the traffic flow density information corresponding to each of the at least one second lane.
It should be noted that the apparatus and method embodiments in the apparatus embodiments are based on the same inventive concept.
The embodiment of the application provides a vehicle lane change control device, which comprises a processor and a memory, wherein at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor to realize the vehicle lane change control method according to the embodiment of the method.
Further, fig. 6 shows a schematic hardware structure of an electronic device for implementing the vehicle lane change control method provided by the embodiment of the present application, where the electronic device may participate in forming or including the vehicle lane change control apparatus provided by the embodiment of the present application. As shown in fig. 6, the electronic device 60 may include one or more processors 602 (shown as 602a, 602b, … …,602 n) that may include, but are not limited to, a processing means such as a microprocessor MCU or a programmable logic device FPGA, a memory 604 for storing data, and a transmission means 606 for communication functions. In addition, the method may further include: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 6 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the electronic device 60 may also include more or fewer components than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
It should be noted that the one or more processors 602 and/or other data processing circuits described above may be referred to herein generally as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Further, the data processing circuitry may be a single stand-alone processing module, or incorporated, in whole or in part, into any of the other elements in the electronic device 60 (or mobile device). As referred to in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of the path of the variable resistor termination to interface).
The memory 604 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the vehicle lane change control method described in the embodiments of the present application, and the processor 602 executes the software programs and modules stored in the memory 604 to perform various functional applications and data processing, i.e. implement a vehicle lane change control method described above. 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, memory 604 may further comprise memory located remotely from processor 602, which may be connected to electronic device 60 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 606 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communications provider of electronic device 60. In one example, the transmission device 606 includes a network adapter (NetworkInterfaceController, NIC) that can connect to other network devices through a base station to communicate with the internet. In one embodiment, the transmission device 606 may be a radio frequency (RadioFrequency, RF) module for communicating wirelessly with the internet.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the electronic device 60 (or mobile device).
Embodiments of the present application also provide a computer readable storage medium that may be disposed in an electronic device to store at least one instruction or at least one program related to a vehicle lane change control method in a method embodiment, where the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle lane change control method provided in the method embodiment.
Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: the foregoing sequence of the embodiments of the present application is only for describing, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than 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. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
According to one 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 computer instructions are read from the computer-readable storage medium by a processor of a computer device, and executed by the processor, cause the computer device to perform the methods provided in the various alternative implementations described above.
All embodiments in the application are described in a progressive manner, and identical and similar parts of all embodiments are mutually referred, so that each embodiment mainly describes differences from other embodiments. In particular, for the apparatus and electronic device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and references to the parts of the description of the method embodiments are only required.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the present application is not intended to limit the invention to the particular embodiments of the present application, but to limit the scope of the invention to the particular embodiments of the present application.
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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| CN202211436693.XA CN116189416A (en) | 2022-11-16 | 2022-11-16 | Vehicle lane change control method, device, equipment and storage medium |
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