CN116279577A - Vehicle lane change instruction generation method and device and vehicle - Google Patents
Vehicle lane change instruction generation method and device and vehicle Download PDFInfo
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention discloses a method and a device for generating a lane change instruction of a vehicle and the vehicle, and relates to the technical field of intelligent driving. Comprising the following steps: obtaining the lane passing efficiency of at least one lane to be changed of a target vehicle, and selecting the target lane according to the lane passing efficiency, wherein the lane passing efficiency is used for representing the expected smooth passing condition when the target vehicle enters the lane to be changed for running; acquiring running state information of the target vehicle under the condition that the vehicle collision time in the target lane is matched with the reference collision time; and generating a lane change instruction of the target lane under the condition that the running state information is not matched with the lane change inhibition strategy of the target lane so as to trigger vehicle lane change running planning based on the lane change instruction. The method and the device can obviously improve the accuracy of identifying the lane change intention, meet the requirements on stability and safety of lane change instruction generation and improve the accuracy of vehicle lane change instruction generation.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a method and a device for generating a lane change instruction of a vehicle and the vehicle.
Background
Along with the rapid development of intelligent driving technology, the control of the driving process of the vehicle is more and more refined. In general, vehicles have a vehicle lane change during driving, so that different driving planning requirements are satisfied.
At present, the generation of the existing vehicle lane change instruction is generally based on intelligent prediction by a machine learning algorithm, so that the driving planning of vehicle lane change is performed after the generation of the vehicle lane change instruction is determined. However, the vehicle lane change instruction determined based on the machine learning algorithm can cause long-time running along with slow vehicle, and unreasonable lane change conditions exist, such as instability of lane change caused by collision risk and the like in the lane change process of the vehicle, so that the safety risk of vehicle running is greatly increased, the requirements of the generation stability and safety of the vehicle lane change instruction cannot be met, and the accuracy of the generation of the vehicle lane change instruction is reduced.
Disclosure of Invention
In view of the above, the invention provides a method and a device for generating a lane change instruction of a vehicle, and the vehicle, and aims to solve the problem of poor accuracy of the generation of the lane change instruction of the existing vehicle.
According to one aspect of the present invention, there is provided a method for generating a lane change instruction of a vehicle, including:
Obtaining the lane passing efficiency of at least one lane to be changed of a target vehicle, and selecting the target lane according to the lane passing efficiency, wherein the lane passing efficiency is used for representing the expected smooth passing condition when the target vehicle enters the lane to be changed for running;
acquiring running state information of the target vehicle under the condition that the vehicle collision time in the target lane is matched with the reference collision time;
and generating a lane change instruction of the target lane under the condition that the running state information is not matched with the lane change inhibition strategy of the target lane so as to trigger vehicle lane change running planning based on the lane change instruction.
According to the embodiment of the invention, the lane passing efficiency of at least one lane to be changed of the target vehicle is obtained, and the target lane is selected according to the lane passing efficiency, wherein the lane passing efficiency is used for representing the expected smooth passing condition when the target vehicle enters the lane to be changed for running; acquiring running state information of the target vehicle under the condition that the vehicle collision time in the target lane is matched with the reference collision time; under the condition that the driving state information is not matched with the lane change inhibition strategy of the target lane, a lane change instruction of the target lane is generated, so that the lane to be changed is selected based on the lane change instruction to trigger the lane change driving planning of the vehicle, the occurrence of unreasonable lane change conditions is greatly reduced, the stability of the lane change of the vehicle is improved, the lane change safety in the automatic driving process of the vehicle is ensured, the stability and safety requirements of the lane change instruction generation are met, and the accuracy of the lane change instruction generation of the vehicle is improved.
Further, the obtaining the lane passing efficiency of the at least one lane to be changed of the target vehicle includes:
determining at least one front obstacle in the lane to be changed corresponding to the target vehicle in a first preset distance range, and determining a monomer passing efficiency cost of the front obstacle based on a front obstacle speed, wherein the monomer passing efficiency cost is used for representing the situation that the front obstacle is expected to block the target vehicle;
and selecting the lane passing efficiency of the lane to be changed, where the front obstacle is located, based on the monomer passing efficiency cost.
Further, the determining the monomer passing efficiency cost of the leading obstacle based on the leading obstacle speed includes:
and determining a speed difference value between the speed of the front obstacle and a preset speed, and calculating the monomer passing efficiency cost of the front obstacle based on the speed difference value, an obstacle influence weight value and a unit speed difference cost parameter, wherein the obstacle influence weight value is configured based on a steady-state following factor.
Further, after the lane passing efficiency of the lane to be changed where the front obstacle is located is selected based on the single passing efficiency cost, the method further includes:
Filtering the lane passing efficiency according to a preset filtering time interval;
the selecting the target lane according to the lane passing efficiency comprises:
determining a lane corresponding to the maximum value in the lane passing efficiency after filtering as a target lane; or alternatively, the first and second heat exchangers may be,
and under the condition that the efficiency score of the lane passing efficiency and the efficiency score of the own lane where the target vehicle is located after filtering are matched with a preset score threshold value, determining the lane of the lane passing efficiency matched with the preset score threshold value as a target lane.
Further, before the acquiring the driving state information of the target vehicle, the method further includes:
determining at least one rear obstacle in a target lane with the target vehicle within a second preset distance range, and determining a vehicle collision time of the rear obstacle based on a preset following distance, a vehicle running speed and a rear obstacle speed, so as to compare the vehicle collision time with the reference collision time;
the reference collision time is determined based on the steady-state following factor and a preset following distance.
Further, before the generating the lane change instruction of the target lane, the method further includes:
Analyzing a suppression target in the lane change suppression strategy, wherein the suppression target is used for representing an object for blocking the target vehicle from performing lane change, and the lane change suppression strategy comprises at least one sub-rule for blocking the target vehicle from performing lane change;
and acquiring a running parameter corresponding to the inhibition target in the running state information, and matching the running parameter with the lane change inhibition strategy based on the running parameter so as to determine whether to generate a lane change instruction of the target lane.
Further, the method further comprises:
under the condition that the lane change instruction comprises a left lane change instruction and a right lane change instruction, determining the left lane change instruction as a target lane change instruction; or alternatively, the first and second heat exchangers may be,
under the condition that the lane change instruction is a left lane change instruction or a right lane change instruction, determining the left lane change instruction or the right lane change instruction as a target lane change instruction;
carrying out vehicle lane change running planning based on the target lane change instruction to obtain a vehicle lane change planning path;
and updating the lane to be changed of the target vehicle under the condition that the vehicle lane changing of the target vehicle is completed based on the vehicle lane changing planning path.
Further, the method further comprises:
Determining that the generation of the lane change instruction of the target lane fails under the condition that the collision time of the vehicle in the target lane does not match with a reference collision time condition or the driving state information is matched with a lane change inhibition strategy of the target lane, and re-executing the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle under the condition that a preset cooling time interval is reached; or alternatively, the first and second heat exchangers may be,
and under the condition that the lane to be changed of the target vehicle is updated and a preset cooling time interval is reached, the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle is re-executed.
According to another aspect of the present invention, there is provided a device for generating a lane change instruction for a vehicle, comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the lane passing efficiency of at least one lane to be changed of a target vehicle, and selecting a target lane according to the lane passing efficiency, wherein the lane passing efficiency is used for representing the expected smooth passing condition when the target vehicle enters the lane to be changed for running;
the second acquisition module is used for acquiring the running state information of the target vehicle under the condition that the collision time of the vehicle in the target lane is matched with the reference collision time;
And the generation module is used for generating the lane change instruction of the target lane under the condition that the running state information is not matched with the lane change inhibition strategy of the target lane, so that the vehicle lane change running planning is triggered based on the lane change instruction.
Further, the first acquisition module includes:
a determining unit, configured to determine at least one front obstacle in the lane to be changed corresponding to the target vehicle within a first preset distance range, and determine a monomer passing efficiency cost of the front obstacle based on a front obstacle speed, where the monomer passing efficiency cost is used to characterize a situation that the front obstacle is expected to block the target vehicle;
and the selecting unit is used for selecting the lane passing efficiency of the lane to be changed where the front obstacle is located based on the single passing efficiency cost.
Further, the determining unit is specifically configured to determine a speed difference between the speed of the front obstacle and a preset speed, and calculate a monomer passing efficiency cost of the front obstacle based on the speed difference, an obstacle influence weight value, and a unit speed difference cost parameter, where the obstacle influence weight value is configured based on a steady-state following factor.
Further, the first acquisition module further includes:
the filtering unit is used for filtering the lane passing efficiency according to a preset filtering time interval;
the selecting unit is specifically configured to determine, as a target lane, a lane corresponding to a maximum value in the lane passing efficiency after filtering; or under the condition that the efficiency difference between the lane passing efficiency after filtering and the own lane where the target vehicle is located is matched with a preset difference threshold value, determining the lane which is matched with the lane passing efficiency of the preset difference threshold value as the target lane.
Further, the apparatus further comprises:
a determining module, configured to determine at least one rear obstacle in a target lane with the target vehicle within a second preset distance range, and determine a vehicle collision time of the rear obstacle based on a preset following distance, a vehicle traveling speed, and a rear obstacle speed, so as to compare the vehicle collision time with the reference collision time; the reference collision time is determined based on the steady-state following factor and a preset following distance.
Further, the apparatus further comprises:
the analysis module is used for analyzing a suppression target in the lane change suppression strategy, wherein the suppression target is used for representing an object blocking the target vehicle from performing lane change, and the lane change suppression strategy comprises at least one sub-rule blocking the target vehicle from performing lane change;
And the matching module is used for acquiring the running parameters corresponding to the inhibition targets in the running state information, and matching the running parameters with the lane change inhibition strategies based on the running parameters so as to determine whether to generate lane change instructions of the target lanes.
Further, the apparatus further comprises: the planning module, the updating module,
the determining module is further configured to determine, when the lane change instruction includes a left lane change instruction and a right lane change instruction, the left lane change instruction as a target lane change instruction; or under the condition that the lane change instruction is a left lane change instruction or a right lane change instruction, determining the left lane change instruction or the right lane change instruction as a target lane change instruction;
the planning module is used for planning the vehicle lane change running based on the target lane change instruction to obtain a vehicle lane change planning path;
the updating module is used for updating the lane to be changed of the target vehicle under the condition that the vehicle lane changing of the target vehicle is completed based on the vehicle lane changing planning path.
Further, the determining module is further configured to determine that the generation of the lane change instruction fails when the collision time of the vehicle in the target lane does not match the reference collision time condition or the driving state information matches the lane change suppression policy of the target lane, and re-perform the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle when the preset cooling time interval condition is reached; or, under the condition that the lane to be changed of the target vehicle is updated and the preset cooling time interval is reached, the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle is re-executed.
According to one aspect of the invention, a vehicle is provided, which comprises the generation device of the vehicle lane change instruction.
According to still another aspect of the present invention, there is provided a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the method of generating a lane change instruction for a vehicle as described above.
According to still another aspect of the present invention, there is provided a computer apparatus including: at least one processor coupled to a memory storing programs or instructions that are executed on the processor to implement the steps of the method of generating a lane change instruction for a vehicle as described above.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
Fig. 1 shows a flowchart of a method for generating a lane change instruction of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart of another method for generating a lane change instruction of a vehicle according to an embodiment of the present invention;
fig. 3 shows a schematic diagram of a lane change waiting for a target vehicle according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for generating a lane change instruction for a vehicle according to an embodiment of the present invention;
fig. 5 shows a block diagram of a device for generating a lane change instruction of a vehicle according to an embodiment of the present invention;
fig. 6 shows a structural instruction of a terminal according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides a method for generating a lane change instruction of a vehicle, as shown in fig. 1, the method comprises the following steps:
101. And obtaining the lane passing efficiency of at least one lane to be changed of the target vehicle, and selecting the target lane according to the lane passing efficiency.
In the embodiment of the invention, in the track planning process of the unmanned intelligent vehicle, an automatic driving processor serving as a current execution main body can be a processor configured at a vehicle end, can also be a cloud server matched with the vehicle, and the like, and at the moment, the current execution main body can scan a road where the vehicle is located through an intelligent sensing system so as to determine whether to generate a vehicle lane change instruction. Specifically, the current execution subject determines, in real time, the traffic efficiency of the vehicle expected to change the lane of the target vehicle, where the lane traffic efficiency is used to represent the expected traffic smoothness when the target vehicle enters the lane to be changed for driving. At this time, since the lanes to be changed may be plural, for example, a left lane of the target vehicle or a right lane of the target vehicle, the current execution subject may determine the lane passing efficiency by determining a situation in which the blocking by the obstacle is expected in each lane to be changed in real time, that is, by characterizing a lane passing efficiency cost in which the target vehicle is in the situation in which the blocking by the obstacle is expected in the lane, so as to select the target vehicle according to the lane passing efficiency. In a specific implementation scenario, the current execution subject may select a lane corresponding to the maximum lane traffic efficiency as the target lane, or may select a plurality of target vehicles meeting the preset lane change condition. In addition, the obstacle in the embodiment of the present invention may be other moving vehicles or non-moving objects located on the lane to be changed, for example, obstacle avoidance marks, etc., which are not limited in particular.
It should be noted that, the vehicle is a vehicle with an automatic control system in an automatic driving scene, including a passenger vehicle and a commercial vehicle, and common types of passenger vehicles include, but are not limited to, a sedan, a sport utility vehicle, a multi-person commercial vehicle, and the like, and common types of commercial vehicles include, but are not limited to, a pick-up card, a minibus, a self-unloading vehicle, a truck, a tractor, a trailer, a mining vehicle, and the like, and at this time, the vehicle can realize automatic driving based on the automatic control system.
102. And acquiring the running state information of the target vehicle under the condition that the vehicle collision time in the target lane is matched with the reference collision time.
In the embodiment of the invention, after the current execution subject selects the target lane, in order to avoid collision between the vehicle and the obstacle after entering the target road to be changed, the collision time of the vehicle in the target lane is matched with the reference collision time in advance to be used as a judgment basis for entering the target lane. The reference collision time is determined based on a steady-state following factor and a preset following distance, the steady-state following factor is used for representing the requirement of the target vehicle for stably following the front vehicle, the current execution subject is configured in advance according to the automatic driving following requirement of the target vehicle, for example, the steady-state following factor = 0.9, the preset following distance is used for representing the minimum distance of the target vehicle for stably following the front vehicle, and the current execution subject is configured in advance according to the automatic driving following requirement of the target vehicle. Furthermore, in order to ensure that the target vehicle does not collide with other obstacles of the target lane after lane change, the reference collision time is determined directly based on the steady-state following factor and the preset following distance, for example, the target vehicle may be manually configured directly or calculated through a linear relationship, and the embodiment of the invention is not particularly limited.
It should be noted that, the vehicle collision time is the time when the target vehicle is expected to collide with other obstacles after being changed to the target lane, and may be calculated by the speed of the target vehicle and the distance between the perceived obstacles, which is not particularly limited in the embodiment of the present invention. At this time, the current execution subject acquires the running state information of the target vehicle, which includes, but is not limited to, running speed, running scene information, lane change function state, lane change duration, automatic running state, and the like, so as to match with the lane change suppression strategy according to the running state information. The driving state information may be obtained by scanning based on the sensing system, may be obtained based on data recorded in the current execution body, and may be obtained based on the vehicle navigation system.
103. And generating a lane change instruction of the target lane under the condition that the driving state information is not matched with the lane change inhibition strategy of the target lane.
In the embodiment of the invention, the lane change inhibition strategy of the target vehicle is pre-configured in the current execution main body so as to judge whether the lane change condition is met according to the running state information of the target vehicle, so that the target vehicle generates a lane change instruction under the condition that the lane change condition is met, and the lane change instruction is used for triggering the running planning of the lane change of the vehicle. The lane change inhibition policy includes at least one sub-rule for blocking the target vehicle to change lanes, for example, if the driving scene information in the driving state information is that the target vehicle is in a non-ramp, the sub-rule is that the lane change is prohibited in the ramp, which indicates that the lane change inhibition policy of the target vehicle and the target lane is not matched, the current execution subject generates a lane change instruction of the target lane, and the embodiment of the invention is not limited specifically.
It should be noted that, different lane change inhibition sub-strategies may be preconfigured in the current execution body to meet the lane change requirement of real-time change, for example, the lane change inhibition strategy may include, but is not limited to, any one or more sub-rules including, without starting the overtaking lane change automatic driving function, prohibiting lane change in a solid lane, prohibiting lane change in a dangerous vehicle behind, prohibiting lane change with a lane change cooling time shorter than a preset time, prohibiting lane change in a non-automatic driving state, prohibiting lane change in a ramp in a preset distance in front, prohibiting lane change with a target vehicle speed lower than a preset vehicle speed, prohibiting lane change with a curvature speed limit of the target vehicle lower than a preset speed, prohibiting lane change with a fixed obstacle in front of the target lane, and the like. In addition, after the current execution subject generates the lane change instruction of the target lane, the driving route of the target vehicle entering the target lane after lane change can be planned based on the path planning of automatic driving, so that the target vehicle automatically enters the target lane after driving according to the planned path.
In another embodiment of the present invention, for further explanation and limitation, as shown in fig. 2, the step of obtaining the lane passing efficiency of at least one lane to be changed of the target vehicle includes:
201. Determining at least one front obstacle in the lane to be changed corresponding to the target vehicle in a first preset distance range, and determining the monomer passing efficiency cost of the front obstacle based on the speed of the front obstacle;
202. and selecting the lane passing efficiency of the lane to be changed, where the front obstacle is located, based on the monomer passing efficiency cost.
In order to accurately select a target lane based on the traffic efficiency of the vehicle, when the traffic efficiency of the lane to be changed is acquired, specifically, the single traffic efficiency cost of all vehicles serving as obstacles in each special lane to be changed is calculated first, so that the traffic efficiency of each lane to be changed is accurately calculated. The single traffic efficiency cost of each vehicle in the lane to be changed is used for representing the situation that the front obstacle is expected to block the target vehicle, and at this time, the front obstacle may be an obstacle such as a front obstacle vehicle or a front roadblock in the lane to be changed, and the embodiment of the invention is not limited specifically. The current execution body firstly determines that the target vehicle corresponds to at least one front obstacle in each lane to be changed in a first preset distance range, and can scan according to the first preset distance range through the intelligent perception system to determine the front obstacle, if 2 front vehicles exist in the lane to be changed, the embodiment of the invention is not particularly limited, and therefore the monomer passing efficiency cost is determined based on the front obstacle speed of the front obstacle. The first preset distance range is set according to the lane change requirement of the vehicle, for example, 200 meters, 400 meters, and the like, and the embodiment of the invention is not particularly limited.
It should be noted that, since there may be a plurality of front obstacles in a lane to be changed, when determining the traffic efficiency of the lane, in order to make the target vehicle change lanes in the safest manner, the single traffic efficiency cost of each front obstacle is selected, in a specific implementation scenario, preferably, the maximum value of the plurality of single traffic efficiency costs (costs) is directly determined as the traffic efficiency cost of the lane to be changed, that is, the traffic efficiency cost of the single body with the slowest running speed, that is, the maximum traffic efficiency cost is taken as the traffic efficiency cost of the lane, and further, the single traffic efficiency cost and the traffic efficiency of the lane are in a negative correlation, that is, the greater the single traffic efficiency cost of the front obstacle is, the more serious the situation that the target vehicle is expected to be blocked, so as to cause the traffic efficiency of the lane to be lower. In an optional embodiment of the present application, a monomer with the greatest traffic efficiency cost in a lane is selected as a reference, and the lane traffic efficiency of the lane is determined. Specifically, in one embodiment, lane traffic efficiency = 1/monomer traffic efficiency cost. For example, as shown in fig. 3, 3 front obstacles exist in the lane 1 to be changed, and the corresponding monomer traffic efficiency costs are 2.3, 3.5 and 2.5 respectively, then 3.5 is directly selected as the lane traffic efficiency cost of the lane 1 to be changed, so that the lane traffic efficiency can be determined based on the inverse proportion relationship between the lane traffic efficiency cost and the lane traffic efficiency.
In another embodiment of the present invention, for further explanation and limitation, the step of determining the monomer passing efficiency cost of the leading obstacle based on the leading obstacle speed comprises:
and determining a speed difference value between the speed of the front obstacle and a preset speed, and calculating the monomer passing efficiency cost of the front obstacle based on the speed difference value, the obstacle influence weight value and the unit speed difference cost parameter.
In order to achieve the purpose of determining the traffic efficiency of the lane based on the traffic efficiency cost of the single body, thereby improving the safety of lane change, so as to accurately generate a lane change instruction, when the traffic efficiency cost of the single body is determined based on the speed of the obstacle, specifically, the speed difference between the speed of the obstacle and the preset speed is determined first. The speed of the obstacle can be obtained by scanning through a sensing system, the preset speed is a speed threshold configured according to the lane change requirement, such as 5m/s, and when the speed difference value is determined, the speed difference value can be determined based on comparison with the static state, such as max (v_set-object_v, 0.0), wherein v_set is the preset speed, and object_v is the speed of the obstacle. Furthermore, when calculating the monomer passing efficiency cost based on the speed difference value, the obstacle influence weight value and the unit speed difference cost parameter, the specific calculation mode is as follows: the monomer passing efficiency cost=speed difference value×unit speed difference cost parameter×obstacle influence weight value, wherein the obstacle influence weight value is configured based on a steady-state following factor, the configuration range is preferably [0.0,0.1], the unit speed difference cost parameter is adjustable in unit speed, and is preferably 3.5, and the embodiment of the invention is not particularly limited.
It should be noted that, the sensing system in the embodiment of the present invention is a system having an image scanning function according to a time frame unit, so as to determine information such as a speed and a position of a vehicle according to a position of the vehicle in each frame of image, and may determine content such as environmental information of the vehicle based on identifying image data of each frame, which is not particularly limited.
In another embodiment of the present invention, for further explanation and limitation, after selecting the traffic efficiency of the lane to be changed where the front obstacle is located based on the single traffic efficiency cost, the method further includes:
filtering the lane passing efficiency according to a preset filtering time interval;
the selecting the target lane according to the lane passing efficiency comprises:
determining a lane corresponding to the maximum value in the lane passing efficiency after filtering as a target lane; or alternatively, the first and second heat exchangers may be,
and under the condition that the efficiency score of the lane passing efficiency and the efficiency score of the own lane where the target vehicle is located after filtering are matched with a preset score threshold value, determining the lane of the lane passing efficiency matched with the preset score threshold value as a target lane.
In order to ensure stability in determining the lane traffic efficiency based on the individual traffic efficiency cost, it is necessary to filter the vehicle traffic efficiency after determining the lane traffic efficiency. The preset filtering time may be configured based on the scanning time of the sensing system, for example, the preset filtering time interval may be 2 seconds, etc., which is not limited in the embodiment of the present invention. At this time, the sensing system is required to obtain information such as speed according to the scanning time point when calculating the cost of the single traffic efficiency, and the speed is uneven in the vehicle driving process, so that the lane traffic efficiency is filtered according to the preset filtering time interval, that is, the lane traffic efficiency calculated from all time points according to the preset filtering time interval is filtered, the lane traffic efficiency corresponding to the preset filtering time interval is obtained, and other filtered time points are excessively changed based on a smooth curve mode, so that the final vehicle traffic efficiency obtained by calculating the speed obtained at each scanning time is balanced, the excessively high or excessively low vehicle traffic efficiency is reduced, and the stability of the final calculation result of the lane traffic efficiency is ensured.
In a specific scenario in the embodiment of the present invention, after the lane traffic efficiency is filtered, a target lane is selected based on the filtered lane traffic efficiency, and specifically, a lane corresponding to the maximum value in the lane traffic efficiencies is directly selected as a target vehicle. In another specific scenario in the embodiment of the present invention, after the lane traffic efficiency is filtered, a target lane is selected based on the filtered lane traffic efficiency, and specifically, when the current execution subject calculates the monomer traffic efficiency cost of each vehicle, the monomer traffic efficiency cost of the target vehicle is calculated according to the same method at the same time, and is used as the monomer traffic efficiency cost of the own vehicle lane for the target vehicle. After the traffic efficiency of the lanes is determined, the ratio of the traffic efficiency of each lane to the single traffic efficiency cost of the own vehicle lane is calculated to obtain an efficiency difference, and the efficiency difference is compared with a preset difference threshold value, and at the moment, the preset difference threshold value is preconfigured to determine the lane with the traffic efficiency matching the preset difference threshold value as a target lane under the condition that the efficiency difference matches the preset difference threshold value.
In another embodiment of the present invention, for further explanation and limitation, before the step of obtaining the driving status information of the target vehicle, the method further includes:
And determining at least one rear obstacle in a target lane with the target vehicle in a second preset distance range, and determining the vehicle collision time of the rear obstacle based on a preset following distance, a vehicle running speed and a rear obstacle speed so as to compare the vehicle collision time with the reference collision time.
In order to ensure safety in the process of the target vehicle expecting lane change, to avoid the lane change from generating a vehicle collision, it is necessary to determine a rear obstacle that the target vehicle expects to generate in the target lane before acquiring the driving state information of the target vehicle, so as to determine whether a collision occurs between the target vehicle and the rear obstacle. The second preset distance range may be the same as or different from the first preset distance range, and the rear obstacle of the target vehicle is scanned in the second preset distance range based on the sensing system to obtain at least one rear obstacle, at this time, the rear obstacle is usually a rear vehicle, as shown in fig. 3, and the right lane is the target lane, and the vehicle collision time based on the rear obstacle is compared with the reference collision time. After the rear obstacle is determined, the rear obstacle speed of the rear obstacle is obtained through scanning of the sensing system, and the vehicle collision time is calculated by combining the preset following distance and the vehicle running speed. Specifically, the vehicle collision time ttc=distance/(v_set-object_v), where distance is a preset following distance, v_set is a vehicle running speed, and object_v is a rear obstacle speed, and at this time, since the target vehicle is in the automatic driving mode, the vehicle running speed may be a preset speed, and the embodiment of the present invention is not limited specifically.
It should be noted that, in the embodiment of the present invention, the reference collision time TTC is determined based on the steady state following factor and the preset following distance, that is, the steady state following factor is used to represent the requirement of the target vehicle for stably following the front vehicle, the current executing body is configured in advance according to the automatic driving following requirement of the target vehicle, for example, the steady state following factor factor=0.9, the preset following distance is used to represent the minimum distance of the target vehicle for stably following the front vehicle, and the current executing body is configured in advance according to the automatic driving following requirement of the target vehicle. In a high speed scenario, the reference time to collision TTC may be based solely on the steady state factor correlation, i.e. the steady state factor is adjusted while the reference time to collision TTC is adjusted. In addition, in the embodiment of the invention, as the obstacle influencing weight value is configured based on the steady state following factor, and correspondingly, when the steady state following factor is adjusted, the obstacle influencing weight value is also adjusted in a correlated way, so that the calculation of the single passing efficiency cost of the front obstacle is improved, the lane passing efficiency of a target lane is influenced, the intention judgment effectiveness of triggering lane change is improved, and the judgment of meeting the lane change of different scenes by adjusting the steady state following factor is realized.
In another embodiment of the present invention, for further explanation and limitation, before the step of generating the lane change instruction of the target lane, as shown in fig. 4, the method further includes:
301. analyzing the inhibition target in the lane change inhibition strategy;
302. and acquiring a running parameter corresponding to the inhibition target in the running state information, and matching the running parameter with the lane change inhibition strategy based on the running parameter so as to determine whether to generate a lane change instruction of the target lane.
In order to improve the accuracy of the generation of the lane change instruction, before the generation of the lane change instruction of the target lane, the subject analysis of the suppression target in the lane change suppression policy is currently performed to match the running parameters in the running state information based on the suppression target. The lane change inhibition strategy includes at least one sub-rule for blocking the target vehicle to change lanes, and when the lane change inhibition strategy is matched with the driving state information, an inhibition target is determined, wherein the inhibition target is used for representing an object for blocking the target vehicle to perform lane change driving, for example, if the sub-rule is that the target vehicle speed is lower than a preset vehicle speed to inhibit lane change, the inhibition target to be analyzed is the target vehicle speed. In the embodiment of the invention, the lane change inhibition policy can be stored through text content or compiled based on a code form, so that when the inhibition target is analyzed, analysis and identification can be performed based on a natural language technology or based on a compiling mode such as a code mark, and the embodiment of the invention is not particularly limited. After the analysis is performed to obtain the inhibition target, the running parameters in the running state information are obtained according to the inhibition target, so that the running parameters are matched with the corresponding sub-rules in the lane change inhibition strategy. For example, if the sub rule in the lane change suppression policy is that the overtaking lane change automatic driving function is not started to prohibit lane change, the analysis suppression target is the overtaking lane change function, and the current execution main body acquires lane change function state information corresponding to the overtaking lane change function in the running state information as the running parameter, so as to judge whether the lane change function state information is in the on state, if the lane change function state information is in the on state, the lane change instruction can be generated, and if the lane change instruction is not generated, the lane change instruction can be generated.
After matching the lane change suppression policy based on the driving parameter, if the lane change instruction is generated, the current execution subject does not further determine the lane change suppression policy according to the real-time driving state information of the vehicle, and only controls the target vehicle to complete lane change according to the lane change instruction.
In another embodiment of the present invention, for further explanation and limitation, the steps further include:
under the condition that the lane change instruction comprises a left lane change instruction and a right lane change instruction, determining the left lane change instruction as a target lane change instruction; or alternatively, the first and second heat exchangers may be,
under the condition that the lane change instruction is a left lane change instruction or a right lane change instruction, determining the left lane change instruction or the right lane change instruction as a target lane change instruction;
carrying out vehicle lane change running planning based on the target lane change instruction to obtain a vehicle lane change planning path;
and updating the lane to be changed of the target vehicle under the condition that the vehicle lane changing of the target vehicle is completed based on the vehicle lane changing planning path.
In order to achieve the lane change execution purpose of the target vehicle based on the lane change instruction, since the target lane may be a left lane of the target vehicle or a right lane of the target vehicle, that is, the lane change instruction includes a left lane change instruction and/or a right lane change instruction, further judgment is required. Specifically, when none of the plurality of target lanes matches the lane change suppression strategy and the plurality of target lanes include a left lane and a right lane, the generated lane change instruction includes a left lane change instruction and a right lane change instruction. At this time, in order to select the optimal and most suitable target lane, lane change safety is improved, and the left lane change instruction is directly selected and determined as the target lane change instruction, so that the vehicle is controlled to carry out planning running based on the left lane change instruction. When one target lane does not match the lane change inhibition strategy and the target lane is a left lane or a right lane, the left lane change instruction or the right lane change instruction is directly determined as the target lane change instruction.
After the target lane change instruction is determined, the current execution body controls the target vehicle according to the target lane change instruction to complete lane change, and then vehicle lane change running planning is required to be performed according to the target lane change instruction, namely, a path from the current lane of the target vehicle to the target lane is planned, so as to obtain a vehicle lane change planning path. At this time, the path planning may be performed by a planning model (such as a path planning decision algorithm) based on the preset lane speed and lane width of the target lane, and the speeds and distances between the target lane and the front obstacle and the rear obstacle, so as to obtain a planned path for the vehicle. And after the vehicle lane change planning path is obtained, the current execution main body controls the target vehicle to travel into the target lane according to the vehicle lane change planning path until the lane change is completed. When the target vehicle finishes the change of the target lane, the target lane where the target vehicle is located becomes the own lane of the target vehicle, so that the lane information of the target vehicle, namely, the lane to be changed of the target vehicle can be updated, and the next lane change can be performed.
In another embodiment of the present invention, for further explanation and limitation, the steps further include:
determining that the generation of the lane change instruction of the target lane fails under the condition that the collision time of the vehicle in the target lane does not match with a reference collision time condition or the driving state information is matched with a lane change inhibition strategy of the target lane, and re-executing the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle under the condition that a preset cooling time interval is reached; or alternatively, the first and second heat exchangers may be,
and under the condition that the lane to be changed of the target vehicle is updated and a preset cooling time interval is reached, the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle is re-executed.
In order to meet the requirements of safety and effectiveness of lane changing of a vehicle, in a specific scene in the embodiment of the invention, when the collision time of the vehicle in a target lane is not matched with the reference collision time or the running state information is matched with a lane changing inhibition strategy, the fact that the target vehicle is unsuitable for lane changing is indicated at the moment, so that the current execution main body determines that the generation of a lane changing instruction of the target lane fails, the calculation of cooling time is started, after the timing reaches the preset cooling time, the lane passing efficiency of the target vehicle is re-executed, and the following steps are re-executed to judge the generation of the lane changing instruction of the target vehicle. In another specific scenario in the embodiment of the present invention, when the current execution subject updates the lane to be changed of the target vehicle and reaches the preset cooling time interval, it is indicated that the target vehicle reaches the preset cooling time interval after changing to the target lane, and the next generation judgment of the lane change instruction can be performed, and then the current execution subject executes the step of obtaining the lane passing efficiency of at least one lane to be changed of the target vehicle, so as to enter the next judgment of the generation of the lane instruction. The preset cooling time may be 2 seconds, 5 seconds, etc., and is configured according to the lane change requirement, and the embodiment of the present invention is not specifically limited.
Compared with the prior art, the method for generating the vehicle lane change instruction acquires the lane passing efficiency of at least one lane to be changed of a target vehicle, and selects a target lane according to the lane passing efficiency, wherein the lane passing efficiency is used for representing the expected traffic unblocked condition when the target vehicle enters the lane to be changed for running; acquiring running state information of the target vehicle under the condition that the vehicle collision time in the target lane is matched with the reference collision time; under the condition that the driving state information is not matched with the lane change inhibition strategy of the target lane, a lane change instruction of the target lane is generated, so that the lane to be changed is selected based on the lane change instruction to trigger the lane change driving planning of the vehicle, the occurrence of unreasonable lane change conditions is greatly reduced, the stability of the lane change of the vehicle is improved, the lane change safety in the automatic driving process of the vehicle is ensured, the stability and safety requirements of the lane change instruction generation are met, and the accuracy of the lane change instruction generation of the vehicle is improved.
Further, as an implementation of the method shown in fig. 1, an embodiment of the present invention provides a device for generating a lane change instruction of a vehicle, as shown in fig. 5, where the device includes:
The first obtaining module 41 is configured to obtain a lane traffic efficiency of at least one lane to be changed of the target vehicle, and select a target lane according to the lane traffic efficiency, where the lane traffic efficiency is used to represent an expected traffic smoothness condition when the target vehicle enters the lane to be changed for driving;
a second acquisition module 42 for acquiring travel state information of the target vehicle under a condition that a vehicle collision time in the target lane matches a reference collision time;
and the generating module 43 is configured to generate a lane change instruction of the target lane under a condition that the driving state information does not match with a lane change suppression policy of the target lane, so as to trigger a vehicle lane change driving plan based on the lane change instruction.
Further, the first acquisition module includes:
a determining unit, configured to determine at least one front obstacle in the lane to be changed corresponding to the target vehicle within a first preset distance range, and determine a monomer passing efficiency cost of the front obstacle based on a front obstacle speed, where the monomer passing efficiency cost is used to characterize a situation that the front obstacle is expected to block the target vehicle;
And the selecting unit is used for selecting the lane passing efficiency of the lane to be changed where the front obstacle is located based on the single passing efficiency cost.
Further, the determining unit is specifically configured to determine a speed difference between the speed of the front obstacle and a preset speed, and calculate a monomer passing efficiency cost of the front obstacle based on the speed difference, an obstacle influence weight value, and a unit speed difference cost parameter, where the obstacle influence weight value is configured based on a steady-state following factor.
Further, the first acquisition module further includes:
the filtering unit is used for filtering the lane passing efficiency according to a preset filtering time interval;
the selecting unit is specifically configured to determine, as a target lane, a lane corresponding to a maximum value in the lane passing efficiency after filtering; or under the condition that the efficiency difference between the lane passing efficiency after filtering and the own lane where the target vehicle is located is matched with a preset difference threshold value, determining the lane which is matched with the lane passing efficiency of the preset difference threshold value as the target lane.
Further, the apparatus further comprises:
a determining module, configured to determine at least one rear obstacle in a target lane with the target vehicle within a second preset distance range, and determine a vehicle collision time of the rear obstacle based on a preset following distance, a vehicle traveling speed, and a rear obstacle speed, so as to compare the vehicle collision time with the reference collision time; the reference collision time is determined based on the steady-state following factor and a preset following distance.
Further, the apparatus further comprises:
the analysis module is used for analyzing a suppression target in the lane change suppression strategy, wherein the suppression target is used for representing an object blocking the target vehicle from performing lane change, and the lane change suppression strategy comprises at least one sub-rule blocking the target vehicle from performing lane change;
and the matching module is used for acquiring the running parameters corresponding to the inhibition targets in the running state information, and matching the running parameters with the lane change inhibition strategies based on the running parameters so as to determine whether to generate lane change instructions of the target lanes.
Further, the apparatus further comprises: the planning module, the updating module,
the determining module is further configured to determine, when the lane change instruction includes a left lane change instruction and a right lane change instruction, the left lane change instruction as a target lane change instruction; or under the condition that the lane change instruction is a left lane change instruction or a right lane change instruction, determining the left lane change instruction or the right lane change instruction as a target lane change instruction;
the planning module is used for planning the vehicle lane change running based on the target lane change instruction to obtain a vehicle lane change planning path;
The updating module is used for updating the lane to be changed of the target vehicle under the condition that the vehicle lane changing of the target vehicle is completed based on the vehicle lane changing planning path.
Further, the determining module is further configured to determine that the generation of the lane change instruction fails when the collision time of the vehicle in the target lane does not match the reference collision time condition or the driving state information matches the lane change suppression policy of the target lane, and re-perform the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle when the preset cooling time interval condition is reached; or, under the condition that the lane to be changed of the target vehicle is updated and the preset cooling time interval is reached, the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle is re-executed.
Compared with the prior art, the method and the device for generating the lane change instruction of the vehicle have the advantages that the lane passing efficiency of at least one lane to be changed of the target vehicle is obtained, the target lane is selected according to the lane passing efficiency, and the lane passing efficiency is used for representing expected smooth passing conditions when the target vehicle enters the lane to be changed for running; acquiring running state information of the target vehicle under the condition that the vehicle collision time in the target lane is matched with the reference collision time; under the condition that the driving state information is not matched with the lane change inhibition strategy of the target lane, a lane change instruction of the target lane is generated, so that the lane to be changed is selected based on the lane change instruction to trigger the lane change driving planning of the vehicle, the occurrence of unreasonable lane change conditions is greatly reduced, the stability of the lane change of the vehicle is improved, the lane change safety in the automatic driving process of the vehicle is ensured, the stability and safety requirements of the lane change instruction generation are met, and the accuracy of the lane change instruction generation of the vehicle is improved.
According to one embodiment of the invention, a vehicle is provided, which comprises the device for generating the vehicle lane change instruction.
According to an embodiment of the present invention, there is provided a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of a method of generating a lane change instruction for a vehicle as described above.
Fig. 6 shows a schematic structural diagram of a computer device according to an embodiment of the present invention, including at least one processor, and a memory coupled to the processor, where the memory stores a program or an instruction running on the processor, and the program or the instruction is executed by the processor to implement the steps of the method for generating a lane change instruction of a vehicle as described above. The specific embodiments of the present invention are not limited to the specific implementation of a computer device.
As shown in fig. 6, the computer device may include: a processor 502, a communication interface (Commun i cat i ons I nterface) 504, a memory 506, and a communication bus 508.
Wherein: processor 502, communication interface 504, and memory 506 communicate with each other via communication bus 508.
A communication interface 504 for communicating with network elements of other devices, such as clients or other servers.
The processor 502 is configured to execute the program 510, and may specifically perform relevant steps in the above-described embodiment of the method for generating a lane change instruction of a vehicle.
In particular, program 510 may include program code including computer-operating instructions.
The processor 502 may be a central processing unit CPU or a specific integrated circuit AS ic (App l I cat I on Spec I f I C I ntegrated Ci rcu it) or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in the terminal may be the same type of processor, such as one or more CPUs; but may also be different types of processors such AS one or more CPUs and one or more AS ics.
A memory 506 for storing a program 510. The memory 506 may comprise high-speed RAM memory or may also include non-volatile memory (non-vo l at i l e memory), such as at least one disk memory.
The program 510 may be specifically operable to cause the processor 502 to:
obtaining the lane passing efficiency of at least one lane to be changed of a target vehicle, and selecting the target lane according to the lane passing efficiency, wherein the lane passing efficiency is used for representing the expected smooth passing condition when the target vehicle enters the lane to be changed for running;
Acquiring running state information of the target vehicle under the condition that the vehicle collision time in the target lane is matched with the reference collision time;
and generating a lane change instruction of the target lane under the condition that the running state information is not matched with the lane change inhibition strategy of the target lane so as to trigger vehicle lane change running planning based on the lane change instruction.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method of generating a lane change instruction for a vehicle, comprising:
obtaining the lane passing efficiency of at least one lane to be changed of a target vehicle, and selecting the target lane according to the lane passing efficiency, wherein the lane passing efficiency is used for representing the expected smooth passing condition when the target vehicle enters the lane to be changed for running;
acquiring running state information of the target vehicle under the condition that the vehicle collision time in the target lane is matched with the reference collision time;
and generating a lane change instruction of the target lane under the condition that the running state information is not matched with the lane change inhibition strategy of the target lane so as to trigger vehicle lane change running planning based on the lane change instruction.
2. The method of claim 1, wherein the obtaining lane traffic efficiency of at least one lane to be changed of the target vehicle comprises:
determining at least one front obstacle in the lane to be changed corresponding to the target vehicle in a first preset distance range, and determining a monomer passing efficiency cost of the front obstacle based on a front obstacle speed, wherein the monomer passing efficiency cost is used for representing the situation that the front obstacle is expected to block the target vehicle;
And selecting the lane passing efficiency of the lane to be changed, where the front obstacle is located, based on the monomer passing efficiency cost.
3. The method of claim 2, wherein the determining the monomer passing efficiency cost of the leading obstacle based on the leading obstacle speed comprises:
and determining a speed difference value between the speed of the front obstacle and a preset speed, and calculating the monomer passing efficiency cost of the front obstacle based on the speed difference value, an obstacle influence weight value and a unit speed difference cost parameter, wherein the obstacle influence weight value is configured based on a steady-state following factor.
4. The method of claim 2, wherein after the selecting the lane traffic efficiency of the lane to be changed where the leading obstacle is located based on the monomer traffic efficiency cost, the method further comprises:
filtering the lane passing efficiency according to a preset filtering time interval;
the selecting the target lane according to the lane passing efficiency comprises:
determining a lane corresponding to the maximum value in the lane passing efficiency after filtering as a target lane; or alternatively, the first and second heat exchangers may be,
and under the condition that the efficiency score of the lane passing efficiency and the efficiency score of the own lane where the target vehicle is located after filtering are matched with a preset score threshold value, determining the lane of the lane passing efficiency matched with the preset score threshold value as a target lane.
5. The method according to claim 3, characterized in that before the acquisition of the running state information of the target vehicle, the method further comprises:
determining at least one rear obstacle in a target lane with the target vehicle within a second preset distance range, and determining a vehicle collision time of the rear obstacle based on a preset following distance, a vehicle running speed and a rear obstacle speed, so as to compare the vehicle collision time with the reference collision time;
the reference collision time is determined based on the steady-state following factor and a preset following distance.
6. The method of claim 1, wherein prior to the generating the lane-change instruction for the target lane, the method further comprises:
analyzing a suppression target in the lane change suppression strategy, wherein the suppression target is used for representing an object for blocking the target vehicle from performing lane change, and the lane change suppression strategy comprises at least one sub-rule for blocking the target vehicle from performing lane change;
and acquiring a running parameter corresponding to the inhibition target in the running state information, and matching the running parameter with the lane change inhibition strategy based on the running parameter so as to determine whether to generate a lane change instruction of the target lane.
7. The method according to claim 1, wherein the method further comprises:
under the condition that the lane change instruction comprises a left lane change instruction and a right lane change instruction, determining the left lane change instruction as a target lane change instruction; or alternatively, the first and second heat exchangers may be,
under the condition that the lane change instruction is a left lane change instruction or a right lane change instruction, determining the left lane change instruction or the right lane change instruction as a target lane change instruction;
carrying out vehicle lane change running planning based on the target lane change instruction to obtain a vehicle lane change planning path;
and updating the lane to be changed of the target vehicle under the condition that the vehicle lane changing of the target vehicle is completed based on the vehicle lane changing planning path.
8. The method according to any one of claims 1-7, further comprising:
determining that the generation of the lane change instruction of the target lane fails under the condition that the collision time of the vehicle in the target lane does not match with a reference collision time condition or the driving state information is matched with a lane change inhibition strategy of the target lane, and re-executing the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle under the condition that a preset cooling time interval is reached; or alternatively, the first and second heat exchangers may be,
And under the condition that the lane to be changed of the target vehicle is updated and a preset cooling time interval is reached, the step of acquiring the lane passing efficiency of at least one lane to be changed of the target vehicle is re-executed.
9. A vehicle lane change instruction generating apparatus, comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the lane passing efficiency of at least one lane to be changed of a target vehicle, and selecting a target lane according to the lane passing efficiency, wherein the lane passing efficiency is used for representing the expected smooth passing condition when the target vehicle enters the lane to be changed for running;
the second acquisition module is used for acquiring the running state information of the target vehicle under the condition that the collision time of the vehicle in the target lane is matched with the reference collision time;
and the generation module is used for generating the lane change instruction of the target lane under the condition that the running state information is not matched with the lane change inhibition strategy of the target lane, so that the vehicle lane change running planning is triggered based on the lane change instruction.
10. A vehicle comprising the vehicle lane change instruction generation apparatus according to claim 9.
11. A computer device comprising at least one processor coupled to a memory storing a program or instructions that when executed by the processor performs the steps of the method of generating a lane change instruction for a vehicle as claimed in any one of claims 1 to 8.
12. A readable storage medium having stored thereon a program or instructions, which when executed by a processor, implement the steps of the method of generating a lane change instruction for a vehicle as claimed in any one of claims 1 to 8.
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| CN202310171774.XA CN116279577A (en) | 2023-02-27 | 2023-02-27 | Vehicle lane change instruction generation method and device and vehicle |
| PCT/CN2023/087847 WO2024178800A1 (en) | 2023-02-27 | 2023-04-12 | Method and apparatus for generating vehicle lane change instruction, and vehicle |
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| CN202310171774.XA CN116279577A (en) | 2023-02-27 | 2023-02-27 | Vehicle lane change instruction generation method and device and vehicle |
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| CN111399512A (en) * | 2020-03-27 | 2020-07-10 | 广州小鹏汽车科技有限公司 | Driving control method, driving control device and vehicle |
| CN115056783A (en) * | 2022-08-01 | 2022-09-16 | 国汽智控(北京)科技有限公司 | Vehicle lane changing method, device and equipment |
| CN115571130A (en) * | 2022-08-22 | 2023-01-06 | 浙江零跑科技股份有限公司 | Vehicle lane change assisting method and system based on lane reference line |
| CN115593440B (en) * | 2022-12-15 | 2023-03-31 | 广州小鹏自动驾驶科技有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
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