CN116461525A

CN116461525A - Vehicle lane changing method, device, equipment, medium and vehicle

Info

Publication number: CN116461525A
Application number: CN202310431584.7A
Authority: CN
Inventors: 杨璐; 吴佳; 文治宇
Original assignee: Beijing Rockwell Technology Co Ltd
Current assignee: Beijing Rockwell Technology Co Ltd
Priority date: 2023-04-20
Filing date: 2023-04-20
Publication date: 2023-07-21

Abstract

The application provides a vehicle lane changing method, a device, equipment, a medium and a vehicle, wherein the method comprises the following steps: acquiring road condition information and a target lane of a vehicle to be changed; extracting characteristics of the road condition information and the target lane to obtain current lane information of the vehicle and safety information of the vehicle; and controlling the vehicle to change from the current lane to the target lane when the lane information meets a first condition and the safety information meets a second condition, wherein the first condition is used for representing lane-related information, and the second condition is used for representing driving safety-related information. According to the vehicle lane changing safety control method and device, the lane changing safety of the vehicle can be improved.

Description

Vehicle lane changing method, device, equipment, medium and vehicle

Technical Field

The application relates to the technical field of automatic driving, in particular to a vehicle lane changing method, a device, equipment, a medium and a vehicle.

Background

With the improvement of living standard, the quantity of automobile conservation is increased, so that more and more vehicles are on the road surface, traffic accidents are increased, and the requirements of users on the safety performance of passenger vehicles are also higher. The vehicles running on the road often change the lane on which the vehicles run, and when the vehicles change the lane, the vehicles change the lane and the vehicles to be changed easily collide due to the occurrence of some accidental or misjudgment, negligence and other artificial errors, so that the running danger is caused, and the safety performance is lower.

Disclosure of Invention

The vehicle lane changing method, the device, the equipment, the medium and the vehicle can improve the lane changing safety of the vehicle.

In a first aspect, the present application provides a vehicle lane-changing method, the method comprising:

acquiring road condition information and a target lane of a vehicle to be changed;

extracting characteristics of the road condition information and the target lane to obtain current lane information of the vehicle and safety information of the vehicle;

and controlling the vehicle to change from the current lane to the target lane when the lane information meets a first condition and the safety information meets a second condition, wherein the first condition is used for representing lane-related information, and the second condition is used for representing driving safety-related information.

In a second aspect, the present application provides a lane-changing apparatus for a vehicle, the apparatus comprising:

the first acquisition module is used for acquiring road condition information and a target lane of a vehicle to be changed;

the first determining module is used for extracting characteristics of the road condition information and the target lane to obtain current lane information of the vehicle and safety information of the vehicle;

the first control module is used for controlling the vehicle to change from the current lane to the target lane when the lane information meets a first condition and the safety information meets a second condition, wherein the first condition is used for representing lane-related information, and the second condition is used for representing driving safety-related information.

In a third aspect, the present application provides an electronic device, the device comprising: a processor and a memory storing computer program instructions; method for realizing lane changing of vehicle when processor executes computer program instructions

In a fourth aspect, the present application provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described vehicle lane change method.

In a fifth aspect, embodiments of the present application also provide a vehicle, the vehicle including at least one of:

the vehicle lane change apparatus as in the second aspect;

an electronic device as in the third aspect;

the computer-readable storage medium of the fourth aspect.

According to the vehicle lane changing method, device, equipment, medium and vehicle, road condition information and a target lane of a vehicle to be changed are obtained; extracting characteristics of the road condition information and the target lane to obtain current lane information of the vehicle and safety information of the vehicle; and controlling the vehicle to change the lane from the current lane where the vehicle runs to the target lane when the lane information meets the first condition and the safety information meets the second condition. According to the method, the current lane information and the safety information of the vehicle can be detected according to the road condition information and the target lane, so that whether the lane meets the lane changing condition (namely, the first condition and the second condition) or not can be determined according to the detected lane information and the detected safety information, the vehicle is controlled to change the lane under the condition that the lane information meets the first condition and the safety information meets the second condition, and the feasibility and the safety of the lane changing of the vehicle are comprehensively considered through the two aspects of the lane information and the safety information, so that the safety of the lane changing of the vehicle is improved, and safety guarantee is provided for running of the vehicle.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.

Fig. 1 is a schematic flow chart of a lane changing method of a vehicle according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a lane-changing apparatus for a vehicle according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The lane keeping assist system (lane keeping assist, LKA) technology is a mature technology in the current automatic driving field, and the lane keeping, i.e. in the functional speed range, can assist the vehicle to keep running in the middle of the lane, thereby providing lateral control for the driver and enhancing convenience and comfort in driving. However, the existing schemes are concentrated in a lane keeping stage, namely a system senses lane boundary lines, so that the vehicle is assisted to run in the middle in a lane range, and a light-on lane change request of a driver can be responded in a certain range to assist the driver to complete lane change operation, so that the driver is still required to trigger the vehicle to change lanes in time under a lane change scene, and autonomous lane change of the system cannot be carried out under LKA, which is very likely to cause untimely lane change of the vehicle and reduce traffic efficiency and driving comfort of users.

In order to solve the problems in the prior art, the embodiment of the application provides a vehicle lane changing method, a device, equipment, a medium and a vehicle. The following first describes a lane changing method for a vehicle provided in an embodiment of the present application.

Fig. 1 shows a schematic flow chart of a lane changing method for a vehicle according to an embodiment of the present application. As shown in fig. 1, the lane changing method of the vehicle may include the steps of:

s101, acquiring road condition information and a target lane of a vehicle to be changed.

Optionally, in one possible implementation manner of the present application, the road condition information may be obtained through a sensing system of the vehicle, and specifically, the road condition information may be obtained through comprehensive analysis of the sensor and the map data. For example, road conditions, vehicle running states, pedestrian dynamics and other road condition information can be obtained by photographing and analyzing roads, vehicles, pedestrians and the like through cameras mounted on the vehicles. Or the surrounding environment is accurately measured and modeled by a laser radar installed on the vehicle, and the surrounding environment comprises road condition information such as vehicles, pedestrians, buildings, pavements and the like. The method is not limited to a specific mode for acquiring the road condition information, and can also be used for detecting and measuring surrounding vehicles, obstacles and road surfaces through radar and ultrasonic waves installed on the vehicles so as to acquire the road condition information such as the running safety state of the vehicles and the road surface condition.

Optionally, in another possible implementation manner of the present application, the vehicle may further obtain road condition information such as roads, road signs, intersections, and speed limits through built-in map data or online map service. And the traffic indication marks on the road surface can be identified and analyzed through sensor equipment such as cameras and the like, so that traffic rules, speed limit and other road condition information can be obtained. In the method, the vehicle can acquire road condition information in various modes, and select and judge according to actual conditions. Therefore, the factors such as traffic conditions, road conditions and weather around the vehicle can be comprehensively considered, the running safety of the vehicle is ensured, and sufficient data support is provided for the subsequent lane change of the vehicle.

Optionally, in the embodiment of the present application, the target lane of the lane to be changed of the vehicle may be obtained through a sensing and decision module of the vehicle. For example, the target lane on which the vehicle is to travel may be preset in advance during the navigation or path planning phase and stored in the navigation system or map data of the vehicle. When the lane change is needed, the vehicle can acquire a target lane of the vehicle to be changed according to preset information. Alternatively, in another implementation manner, a camera, a radar, a laser radar, and other sensor devices may be used to identify and analyze a lane line and a road sign on the road, so as to determine a lane where the vehicle is currently located and a target lane where the vehicle is to be changed.

S102, extracting features of the road condition information and the target lane to obtain current lane information of the vehicle and safety information of the vehicle.

Alternatively, in the embodiment of the present application, the lane information is information of a lane condition required for the vehicle to perform the lane change operation, for example, the lane information may be a lane type of a target lane and a lane in which the vehicle is currently traveling; the specific type of lane line (dotted, solid or dashed solid, etc.). The safety information is information of safety conditions required by the vehicle to execute lane changing operation, for example, the safety information can be whether the lane has barriers such as roadblocks and pedestrians or other potential safety hazards, the positions and speeds of other vehicles on the lane, and the like.

Optionally, in the embodiment of the present application, various features of the road condition information and the target lane may be extracted, and lane information and safety information of the vehicle may be determined, and specifically, road condition information of the current lane where the vehicle is located and road condition information of the target lane, including lane type, lane line type, speed limit and other lane information, and vehicle density, road barrier and other safety information may be obtained through the vehicle-mounted sensor. For example, an image of a road can be acquired through a vehicle-mounted camera, lane information of a target lane and lane types of a current lane where a vehicle runs can be determined by adopting an image processing technology to detect lane lines, calculating lane widths and the like, distance and shape of a front obstacle can be acquired through a sensor such as a laser radar or millimeter wave radar, and safety information can be determined by identifying and classifying the obstacle through the target detection technology, so that various factors to be considered when the vehicle changes lanes can be determined, the risk of collision with surrounding vehicles and the obstacle can be reduced or avoided, smooth lane changing of the vehicle can be ensured, and running safety and stability of the vehicle can be ensured.

And S103, controlling the vehicle to change from the current lane to the target lane when the lane information meets a first condition and the safety information meets a second condition, wherein the first condition is used for representing lane-related information, and the second condition is used for representing driving safety-related information.

Alternatively, in the embodiment of the present application, the first condition may be understood as a precondition that the vehicle is able to perform the lane-changing operation, for example, the first condition may at least include: the target lane is a lane type of a variable lane; the lane line in the lane change direction is a broken line or a broken solid line or the like. The second condition may be understood as a condition that a safety accident does not occur after the vehicle performs the lane change operation, and for example, the second condition may include: no obstacle exists on the target lane; the target lane is not a curve of large curvature; a certain safety distance between the current vehicle and the front and rear vehicles, etc.

Alternatively, in the embodiment of the present application, whether the lane information satisfies the first condition or not and whether the safety information satisfies the second condition may be determined according to the collected lane information and the safety information, so as to determine whether the lane change between the current lane and the target lane may be performed safely. If both the first condition and the second condition are satisfied, a lane change path needs to be formulated. Specifically, a planning algorithm may be used to find a safe path between the current lane and the target lane, and determine parameters such as the speed, acceleration, and the like of the vehicle. And then controlling the vehicle to perform lane changing operation according to the formulated lane changing path and the control parameters of the vehicle. Specifically, the electronic control unit of the vehicle may send a control command to the driving system of the vehicle to perform steering, acceleration, deceleration, and other operations of the vehicle. It should be noted that during lane changing, the vehicle and the surrounding environment are constantly monitored and controlled, so as to ensure the safety of lane changing operation. Meanwhile, dynamic adjustment is required according to different road conditions and traffic conditions, so that the running safety and stability of the vehicle are ensured.

Optionally, in another possible implementation manner of the present application, automatic lane changing of the vehicle may also be implemented through an LKA system, where the LKA system includes a sensing system, a decision making system, a planning control system, and an execution system. The sensing module is usually a multi-sensor fusion of a forward camera, a radar and the like, is arranged near a rearview mirror and a front bumper of a front windshield of a vehicle and is used for real-time scanning of a road ahead and obstacle information around the vehicle; the decision system comprises three decision schemes of in-lane cruising, driver triggering lane changing and automatic lane changing of the system, and can receive the road and vehicle information identified by the perception system, comprehensively judge the environment information (traffic flow/roadblock and the like) of the own vehicle and related parties and decide the behavior mode of the vehicle (lane keeping/lane changing assistance of a single lane); the planning control system can perform different behavior control according to different vehicle modes, and further transmits control instructions to an actuator of the vehicle, so that transverse and longitudinal control of the vehicle or automatic lane changing operation of the vehicle is realized.

Optionally, in another possible implementation manner of the present application, the types of the target lane and the current lane may be primarily determined according to the road condition information. After the target lane and the current lane type are determined, the lane changing path of the vehicle can be further determined according to factors such as lane changing rules and safety distance. For example, if the target lane is an acceleration lane and the current lane is a main lane, the vehicle needs to accelerate to the speed of the expressway and then changes to the acceleration lane as soon as possible, so as to avoid affecting the running of other vehicles. If the target lane is a deceleration lane and the current lane is a main lane, the vehicle needs to decelerate in advance and detect the traffic situation around the vehicle in real time, and the vehicle changes to the deceleration lane so as to avoid danger and traffic jam.

In the vehicle lane changing method, road condition information and a target lane of a vehicle to be changed are obtained; extracting characteristics of the road condition information and the target lane to obtain current lane information of the vehicle and safety information of the vehicle; and controlling the vehicle to change the lane from the current lane where the vehicle runs to the target lane when the lane information meets the first condition and the safety information meets the second condition. According to the method, the current lane information and the safety information of the vehicle can be detected according to the road condition information and the target lane, so that whether the lane meets the lane changing condition (namely, the first condition and the second condition) or not can be determined according to the detected lane information and the detected safety information, the vehicle is controlled to change the lane under the condition that the lane information meets the first condition and the safety information meets the second condition, and the feasibility and the safety of the lane changing of the vehicle are comprehensively considered through the two aspects of the lane information and the safety information, so that the safety of the lane changing of the vehicle is improved, and safety guarantee is provided for running of the vehicle.

In an embodiment, the step 102 may specifically include the following steps:

s1021, based on the road condition information and the target lane, extracting a first lane characteristic of the target lane and a second lane characteristic of a current lane where the vehicle runs.

And S1022, respectively carrying out feature comparison on the first lane feature and the second lane feature to obtain the first lane type of the target lane and the second lane type of the current lane.

Optionally, in the embodiment of the present application, when determining the lane types of the target lane and the current lane according to the road condition information, multiple factors may be comprehensively considered, that is, the lane features of the target lane and the current lane may be extracted, for example: width of lane: different types of lanes typically have different widths. The type of the lane may be primarily determined according to the lane width. Roadside identification: different types of lanes will often have different roadside signs, such as different colored lane markings, different shaped signs, etc. Lane travel direction: different types of lanes will typically have different directions and regulations for driving, such as entering an expressway, requiring entering an accelerating lane, exiting an expressway, requiring entering a decelerating lane, etc. According to the information, the types of the target lane and the current lane can be primarily judged.

S1023, performing feature matching on the first vehicle road type and the second vehicle road type, and determining current lane information of the vehicle.

Optionally, in the embodiment of the present application, after determining the first lane type and the second lane type of the target lane and the current lane, the lane type and the preset variable lane type may be subjected to feature matching comparison, so as to obtain lane information, for example, the lane information may be a lane type in which the first lane type and the second lane type are both variable lanes, and so on.

S1024, based on the road condition information, the target lane is subjected to matching recognition, the unobstructed condition of the target lane is determined, and the safety information comprises the unobstructed condition of the target lane.

Optionally, in the embodiment of the present application, when determining the unobstructed condition of the target lane according to the road condition information, multiple factors may be comprehensively considered, and various features of the target lane are matched and identified from the multiple factors, for example, the forward traffic flow condition: according to the density, speed and running track of the traffic flow in front of the target lane, the unobstructed condition of the target lane can be primarily judged. Forward obstacle: attention is required to obstacles in front of the target lane, such as roadblocks, accident vehicles, construction sites, etc., in order to avoid danger and traffic congestion. Road surface condition: attention is paid to road surface conditions of the target lane, such as water accumulation, ice and snow, etc., to ensure running safety. Weather conditions: weather conditions such as rain and snow weather, strong wind, etc. need to be paid attention to avoid affecting the running safety. According to the above information, the unobstructed condition of the target lane can be judged to judge whether the second condition is satisfied.

In these alternative embodiments, the current lane information and the safety information of the vehicle are obtained by analyzing various road condition information, so that complete data support is provided for subsequent judgment of the first condition and the second condition, safety guarantee is provided for lane changing of the vehicle, and the safety of lane changing of the vehicle is improved.

Optionally, in an embodiment of the present application, the first condition includes:

the first lane type and the second lane type are both preset variable lane types;

the lane lines between the current lanes of the target lane are dotted lines or dashed solid lines.

Optionally, in the embodiment of the present application, the preset variable lane type is a lane type that satisfies a variable lane in a traffic rule, for example, a lane such as a non-ramp/non-bifurcation road/non-merging road/non-acceleration/deceleration lane. Alternatively, the first condition refers to the requirement that both the target lane and the current lane are of a preset lane-changing type, and the lane type generally refers to the purpose and limitation of the lane, such as a motor vehicle lane, a bus lane, a bicycle lane, a sidewalk, etc. Different lane types correspond to different driving rules and restrictions, so that judgment is required according to the lane types during lane change. The lane line between the target lane and the current lane is a dotted line or a broken solid line, which indicates that the lane between the two lanes can be changed. The solid line indicates that the lane cannot be changed, and the dotted line or the virtual-real line indicates that the lane can be changed but safety needs to be noted. Therefore, when the lane line between the target lane and the current lane is a solid line, the lane change operation cannot be performed; when the lane line is a broken line or a virtual-real line, lane changing operation can be performed.

In these alternative embodiments, in order to ensure smoothness and safety of the lane changing operation of the vehicle, by setting the first condition, the vehicle can only change lanes on the lanes meeting the traffic rule lane changing, so that the driving safety of the vehicle is further improved.

Optionally, in an embodiment of the present application, the second condition includes:

the current lane does not have a road intersection area at a first preset distance in the vehicle travelling direction, so that the situation that an intersection or a crosswalk is encountered in the lane changing process can be avoided or reduced, and the safety risk of lane changing operation is increased.

The current lane is not the end point of the current lane at the second preset distance in the traveling direction of the vehicle, so that the situation that the vehicle drives away from the current road to enter an unknown road section when changing lanes can be avoided or reduced, and the safety risk of lane changing operation is increased.

The target lane has no roadblock at a third preset distance in the vehicle travelling direction, so that the roadblock can be avoided or reduced in the lane changing process, and the safety risk of lane changing operation is increased

The target lane does not belong to a curve; therefore, the stability of the running of the vehicle can be prevented or reduced when the vehicle changes lanes at the curved road, and the safety risk of lane changing operation is increased.

The distance between the vehicle and the vehicle positioned in front of the vehicle is larger than the fourth preset distance, and the distance between the vehicle and the vehicle positioned behind the vehicle is larger than the fifth preset distance, so that safe running of the vehicles in front and behind can be ensured not to be influenced in the lane changing process.

Optionally, in the embodiment of the present application, the second condition includes whether a separation and combination area exists in front of the self-driving lane, whether the front of the self-driving lane approaches a road end point, whether a target lane has a roadblock such as a cone barrel, and whether the target lane is on a curve with a large curvature, and if any one of the above conditions is met, lane change will not be initiated; secondly, the safety distance between the self-vehicle and the front and rear vehicles needs to be ensured, namely, a relatively safe lane change safety area can be preset, and no traffic participants with collision risks are ensured in the lane change process of the self-vehicle. In the safety angle, the safety of the lane changing of the vehicle is improved.

In an embodiment, before the step 103, the method may specifically include the following steps:

s201, detecting traffic flow information of the current lane and the target lane based on road condition information, and determining the current driving state of the vehicle.

Alternatively, in the embodiment of the present application, the driving state of the vehicle may include a congestion condition of the vehicle, for example, whether the current lane of the vehicle is in a congestion state may be determined by indexes such as traffic flow, speed, density of the road section, and the like. When the traffic flow of the lane where the vehicle is located is large, the vehicle speed is low and the density is high, the current lane of the vehicle can be determined to be in a congestion state.

Optionally, in one possible implementation manner of the present application, the running speed of the vehicle may be obtained through positioning data of a global positioning system (Global Positioning System, GPS) of the vehicle or a sensor of the vehicle itself, and whether the running speed is lower than a preset threshold value is determined by comparing the current running speed of the vehicle with the preset threshold value. If the vehicle's travel speed is below a preset threshold, it may be indicated that the vehicle is traveling slowly or in a congested state.

S202, controlling the vehicle to change from a current lane where the vehicle runs to a target lane when the lane information meets a first condition and the safety information meets a second condition, wherein the method comprises the following steps:

and controlling the vehicle to change from the current lane to the target lane when the lane information meets the first condition, the safety information meets the second condition and the driving state meets the third condition.

Optionally, in this embodiment of the present application, the third condition is that the vehicle is currently in a traffic environment, for example, a vehicle is running at a low speed in front of the vehicle, the vehicle is in a pressed state for a long time (i.e., the vehicle speed of the vehicle is lower than the target cruising speed set by the vehicle for a long time), and then the vehicle flow state is, for example, the vehicle flow density in front of the vehicle lane is higher, and the vehicle flow density on the adjacent vehicle lane of the vehicle lane is lower, i.e., the vehicle lane is in a congested traffic scene.

Alternatively, in the embodiment of the present application, the lane change is performed on the vehicle only if the first condition, the second condition, and the third condition are all satisfied. Therefore, the feasibility and the safety of the lane changing of the vehicle are considered by comprehensively considering various factors, so that the safety of the lane changing of the vehicle is improved, and the safety guarantee is provided for the running of the vehicle.

In one possible implementation manner of the present application, the conditions for automatically initiating lane change by the vehicle mainly include conditions of function preconditions, road conditions, safety and efficiency, and the automatic lane change of the vehicle is triggered only if four conditions are met: first is a functional prerequisite: i.e. the vehicle is normal, there is no associated fault, and the LKA function satisfies the active state. Road conditions: the road of the area where the vehicle is driven is of normal (i.e. non-ramp/non-bifurcation road/non-merging road/non-acceleration/deceleration lane) type, and the lane line type of the direction of initiating the lane change is a dotted line and a dashed solid line, i.e. the variable road scene in the traffic rule is satisfied. Safety conditions: firstly, whether a separation and combination area exists in front of a self-propelled road, whether the front is close to a road end point, whether a target lane has a roadblock such as a cone barrel or not and whether the target lane is positioned on a curve with large curvature or not, if any one of the road blocks is yes, lane changing cannot be initiated; secondly, the safety distance between the vehicle and the front and rear vehicles needs to be ensured, namely, a relatively safe lane change safety area is preset by the system, and no traffic participants with collision risks exist in the lane change process of the vehicle. Efficiency conditions: two main considerations are that firstly, a low-speed vehicle is driven in front of the vehicle, the vehicle is in a state of being pressed for a long time (the vehicle speed of the vehicle is lower than the target cruising speed set by the vehicle for a long time), then the vehicle flow is in a state of being in front of the vehicle, the vehicle flow density in front of the vehicle lane is larger, and the vehicle flow density on the adjacent vehicle lane of the vehicle lane is smaller, namely, the vehicle lane is in a congested traffic scene.

Alternatively, in another possible implementation manner of the present application, it may be determined whether the distance between the current lane and the target lane meets the preset distance requirement. If the distance is insufficient, it is necessary to wait for a more appropriate timing. It is determined whether there are vehicles between the current lane and the target lane, and if so, it is necessary to wait for these vehicles to travel outside the safe distance. Judging the traffic situation between the current lane and the target lane, and if congestion or other obstacles exist, waiting for the situation to be restored to a drivable state. And selecting a proper lane change strategy and speed according to the current driving state of the vehicle and a preset strategy. For example, if the current lane in which the vehicle is traveling has a higher traffic density than the target lane and the speed is slower, a smaller lane change speed needs to be selected. And before the lane changing operation is performed, enough safety distance and time are reserved, so that collision or conflict with other vehicles in the lane changing process is avoided. It should be noted that, in the course of lane changing, parameters such as position, speed, acceleration, steering angle, etc. of the vehicle need to be monitored in real time to ensure safety and stability of the lane changing process. And when the vehicle changes lanes successfully, the state information of the vehicle needs to be updated, including lanes, running speed, acceleration, position and the like of the vehicle. At the same time, it is necessary to update the status information of other vehicles to avoid other collision and dangerous situations.

Optionally, in an embodiment of the present application, the driving state includes:

the traffic density of the current lane, the traffic density of the target lane and the running speed of the vehicle;

the third condition includes:

the traffic density of the target lane is less than the traffic density of the current lane and the travel speed of the vehicle is continuously lower than a first preset threshold value within a preset time.

Optionally, in the lane changing method of the vehicle according to the embodiment of the present application, the lane changing assistance in the LKA system is optimized based on the LKA system, and specifically, two assistance lane changing modes of active triggering of a driver and automatic lane changing of the system can be provided under a limited scene, that is, when the vehicle is pressed for a long time or continuously runs on a slow lane and the traffic density of the vehicle from the lane is greater than that of a side lane; the system senses lane lines of the self-lane and the left/right side lane and the self-vehicle and surrounding traffic conditions in real time; if the own vehicle is pressed for a long time or continuously runs on a slow lane, the system can comprehensively judge so as to initiate automatic lane changing. Therefore, under the LKA scene, under the condition that the vehicle is pressed for a long time or continuously runs on a slow lane, higher-order driving assistance is provided for a driver, the traffic efficiency and the individuation of the driving style are considered, and the functional experience of the LKA is further improved.

s301, determining that a vehicle driver is in an online driving state;

wherein the vehicle driver is determined to be in the on-line driving state when the state of the vehicle driver satisfies the following condition:

the concentration value of the driver of the vehicle is larger than a second preset threshold value;

the time for the driver of the vehicle to hold the steering wheel is greater than a third preset threshold.

Alternatively, in one possible implementation of the present application, a driver monitoring system (Driver Monitoring System, DMS) may be used to detect whether the vehicle driver is in an online driving state, for example, by collecting physiological and behavioral data of the driver via on-board cameras and sensors, and inputting such data into a driver monitoring algorithm for processing to determine whether the vehicle driver is in an online driving state. The physiological and behavioral data may include, among other things, the following information:

eye and head movements of the driver: by analyzing the eye and head movements of the driver, the concentration of the driver can be inferred. For example, if the driver frequently looks outside the vehicle or moves the head, driver distraction or fatigue may be indicated. Facial expression of the driver: by analyzing the driver's facial expression, the driver's emotion and concentration can be inferred. For example, if the driver frequently frowns or the mouth is tight, it may indicate that the driver is in a stressed or anxious state. Physiological index of driver: by monitoring the physiological indicators of the driver such as heart rate, respiration and skin conductance, the emotion and concentration of the driver can be deduced. For example, if the heart rate and breathing rate of the driver increase, it may be indicative that the driver is in a stressed or excited state. Vehicle control behavior of the driver: by analyzing the vehicle control behavior of the driver, such as the turning of the steering wheel and the depression of the pedals, the concentration of the driver can be inferred. For example, if the driver frequently changes lanes or steps on a brake, driver distraction or fatigue may be indicated.

By comprehensively analyzing the physiological and behavioral data, a concentration value of the driver can be obtained. For example, the above data may be analyzed using a machine learning algorithm to build a model to predict the driver's concentration value. Further, a threshold may be set to alert the driver if the driver is in a distracted or tired state.

Alternatively, in the embodiment of the present application, it may also be determined whether the vehicle driver is in an on-line state by monitoring the driver's hands-off condition (i.e., the time the vehicle driver holds the steering wheel).

Alternatively, in the embodiment of the present application, if it is determined that the driver of the vehicle is in the online driving state, if the lane information satisfies the first condition and the safety information satisfies the second condition, the vehicle is controlled to change from the current lane in which the vehicle is traveling to the target lane.

Optionally, in the embodiment of the present application, after the concentration value of the driver of the vehicle is obtained, the concentration value of the driver of the vehicle may be compared with a second preset threshold value to determine whether the concentration of the driver is greater than the second preset threshold value; after the time for the driver to hold the steering wheel is obtained, the time can be compared with a third preset threshold value to determine whether the time for the driver to hold the steering wheel is greater than the third preset threshold value, if the concentration degree is greater than the second preset threshold value, and the time for the driver to hold the steering wheel is greater than the third preset threshold value, the driver of the vehicle can be determined to be in an on-line driving condition, and at the moment, if the lane information meets the first condition and the safety information meets the second condition, the lane change can be performed on the vehicle.

In these alternative embodiments, the precondition that the vehicle performs autonomous lane-changing is that the driver needs to stay online in real time, i.e. the driver does not have a state such as distraction/fatigue/dangerous behavior, so as to perform the subsequent determination of the first condition and the second condition, thereby ensuring that the driver can pay attention to the lane-changing process in real time during the lane-changing process, and further improving the lane-changing safety of the vehicle.

Based on the vehicle lane changing method provided by the embodiment, the application also provides an embodiment of the vehicle lane changing device.

Fig. 2 shows a schematic structural diagram of a lane-changing apparatus for a vehicle according to another embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown.

Referring to fig. 2, the lane-changing apparatus of a vehicle may include:

the first obtaining module 201 is configured to obtain road condition information and a target lane of a vehicle to be changed;

the first determining module 202 is configured to perform feature extraction on the road condition information and the target lane to obtain current lane information of the vehicle and safety information of the vehicle;

the first control module 203 is configured to control the vehicle to change from a current lane where the vehicle is traveling to a target lane when the lane information satisfies a first condition, the first condition being used for characterizing lane-related information, and the safety information satisfying a second condition, the second condition being used for characterizing traveling safety-related information.

In some embodiments, the first determination module 202 includes:

the first determining submodule is used for extracting a first lane characteristic of a target lane and a second lane characteristic of a current lane where the vehicle runs based on road condition information and the target lane;

the second sub-determining module is used for respectively comparing the first lane characteristics with the second lane characteristics to obtain a first lane type of a target lane and a second lane type of a current lane;

the third determining submodule is used for carrying out feature matching on the first vehicle road type and the second vehicle road type to obtain current lane information of the vehicle;

and the fourth determination submodule is used for carrying out matching recognition on the target lane according to the road condition information, determining the unobstructed condition of the target lane and ensuring the unobstructed condition of the target lane by the safety information.

In some embodiments, the first condition comprises:

the lane line between the target lane and the current lane is a broken line or a broken solid line.

In some embodiments, the second condition comprises:

the current lane has no road junction area at a first preset distance in the vehicle travelling direction;

the current lane is not the end point of the current lane at a second preset distance in the traveling direction of the vehicle;

The target lane has no roadblock at a third preset distance in the vehicle travelling direction;

the target lane does not belong to a curve;

the distance between the vehicle and the vehicle in front of the vehicle is greater than a fourth preset distance;

the distance between the vehicle and the vehicle located behind the vehicle is greater than a fifth preset distance.

In an embodiment, the lane-changing apparatus of a vehicle may further include:

the second determining module is used for detecting traffic flow information of the current lane and the target lane based on the road condition information and determining the current driving state of the vehicle;

the second control module is used for controlling the vehicle to change the lane from the current lane where the vehicle runs to the target lane when the lane information meets the first condition, the safety information meets the second condition and the driving state meets the third condition.

In some embodiments, the driving state includes:

the third condition includes:

In an embodiment, the lane-changing apparatus of a vehicle may further include:

The third determining module is used for determining that the vehicle driver is in an on-line driving state;

It should be noted that, based on the same concept as the embodiment of the method of the present application, the information interaction and the execution process between the above devices/units are devices corresponding to the battery thermal runaway warning method, and all implementation manners in the above method embodiment are applicable to the embodiment of the device, and specific functions and technical effects thereof may be referred to in the method embodiment section, and are not repeated herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

Fig. 3 shows a schematic hardware structure of an electronic device according to an embodiment of the present application.

The device may comprise a processor 301 and a memory 302 in which program instructions are stored.

The steps of any of the various method embodiments described above are implemented when the processor 301 executes a program.

For example, the program may be divided into one or more modules/units, which are stored in the memory 302 and executed by the processor 301 to complete the present application. One or more of the modules/units may be a series of program instruction segments capable of performing specific functions to describe the execution of the program in the device.

In particular, the processor 301 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.

Memory 302 may include mass storage for data or instructions. By way of example, and not limitation, memory 302 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the foregoing. Memory 302 may include removable or non-removable (or fixed) media, where appropriate. Memory 302 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 302 is a non-volatile solid-state memory.

The memory may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to methods in accordance with aspects of the present disclosure.

The processor 301 implements any of the methods of the above embodiments by reading and executing program instructions stored in the memory 302.

In one example, the electronic device may also include a communication interface 303 and a bus 310. The processor 301, the memory 302, and the communication interface 303 are connected to each other through the bus 310 and perform communication with each other.

The communication interface 303 is mainly used to implement communication between each module, device, unit and/or apparatus in the embodiments of the present application.

Bus 310 includes hardware, software, or both that couple the components of the online data flow billing device to each other. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a micro channel architecture (MCa) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination of two or more of the above. Bus 310 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

In addition, in combination with the method in the above embodiment, the embodiment of the application may be implemented by providing a storage medium. The storage medium has program instructions stored thereon; the program instructions, when executed by a processor, implement any of the methods of the embodiments described above.

The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled with the processor, and the processor is used for running a program or an instruction, implementing each process of the above method embodiment, and achieving the same technical effect, so as to avoid repetition, and not repeated here.

It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.

The embodiments of the present application provide a computer program product, which is stored in a storage medium, and the program product is executed by at least one processor to implement the respective processes of the above method embodiments, and achieve the same technical effects, and are not repeated herein.

It should be clear that the present application is not limited to the particular arrangements and processes described above and illustrated in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps, after appreciating the spirit of the present application.

The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer grids such as the internet, intranets, etc.

It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be different from the order in the embodiments, or several steps may be performed simultaneously.

Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, which are intended to be included in the scope of the present application.

Claims

1. A vehicle lane-changing method, the method comprising:

and controlling the vehicle to change from the current lane where the vehicle runs to the target lane when the lane information meets a first condition and the safety information meets a second condition, wherein the first condition is used for representing lane-related information, and the second condition is used for representing running safety-related information.

2. The method of claim 1, wherein the feature extracting the road condition information and the target lane to obtain current lane information of the vehicle and safety information of the vehicle comprises:

extracting a first road characteristic of the target lane and a second road characteristic of a current lane on which the vehicle runs based on the road condition information and the target lane;

respectively carrying out feature comparison on the first lane feature and the second lane feature to obtain a first lane type of the target lane and a second lane type of the current lane;

Performing feature matching on the first lane type and the second lane type to obtain current lane information of the vehicle;

and carrying out matching recognition on the target lane based on the road condition information, and determining the unobstructed condition of the target lane, wherein the safety information comprises the unobstructed condition of the target lane.

3. The method of claim 2, wherein the first condition comprises:

the lane line between the target lane and the current lane is a dotted line or a dashed solid line.

4. The method of claim 2, wherein the second condition comprises:

the current lane does not have a road intersection area at a first preset distance in the vehicle travelling direction;

the current lane is not the end point of the current lane at a second preset distance in the vehicle traveling direction;

the target lane is free of roadblocks at a third preset distance in the vehicle travelling direction;

the target lane does not belong to a curve;

5. The method according to claim 1, wherein, in a case where the lane information satisfies a first condition and the safety information satisfies a second condition, the method further comprises, before controlling the vehicle to change lanes from a current lane in which the vehicle is traveling to the target lane:

detecting traffic flow information of the current lane and the target lane based on the road condition information, and determining the current driving state of the vehicle;

controlling the vehicle to change lanes from a current lane in which the vehicle is traveling to the target lane in a case where the lane information satisfies a first condition and the safety information satisfies a second condition, comprising:

and controlling the vehicle to change the lane from the current lane where the vehicle runs to the target lane when the lane information meets the first condition, the safety information meets the second condition and the driving state meets the third condition.

6. The method of claim 5, wherein the driving condition comprises:

the traffic density of the current lane, the traffic density of the target lane, and the running speed of the vehicle;

The third condition includes:

the traffic density of the target lane is less than the traffic density of the current lane and the running speed of the vehicle is continuously lower than a first preset threshold value within a preset time.

7. The method according to any one of claims 1-6, characterized in that, in case the lane information fulfils a first condition and the safety information fulfils a second condition, the method further comprises, before controlling the vehicle to change lane from a current lane in which the vehicle is traveling to the target lane:

determining that a vehicle driver is in an online driving state;

wherein when the state of the vehicle driver satisfies the following condition, it is determined that the vehicle driver is in an on-line driving state:

the concentration value of the vehicle driver is larger than a second preset threshold value;

the time the driver of the vehicle holds the steering wheel is greater than a third preset threshold.

8. A lane-changing apparatus for a vehicle, the apparatus comprising:

The first control module is used for controlling the vehicle to change lanes from the current lane where the vehicle runs to the target lane when the lane information meets a first condition and the safety information meets a second condition, wherein the first condition is used for representing lane-related information, and the second condition is used for representing running safety-related information.

9. An electronic device, the device comprising: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the vehicle lane change method of any one of claims 1-7.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the vehicle lane change method according to any of claims 1-7.

11. A vehicle, comprising at least one of:

the lane-changing apparatus for a vehicle according to claim 8;

the electronic device of claim 9;

the computer readable storage medium of claim 10.