CN116620329A

CN116620329A - Vehicle lane changing method and device, electronic equipment and storage medium

Info

Publication number: CN116620329A
Application number: CN202310784932.9A
Authority: CN
Inventors: 祁旭; 祝铭含; 赵德芳; 罗逍; 马欢; 郑震; 陈薪宇; 谢泽宇
Original assignee: Faw Nanjing Technology Development Co ltd; FAW Group Corp
Current assignee: Faw Nanjing Technology Development Co ltd; FAW Group Corp
Priority date: 2023-06-29
Filing date: 2023-06-29
Publication date: 2023-08-22

Abstract

The invention discloses a vehicle lane changing method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: determining an obstacle vehicle speed corresponding to a lane to be changed based on sensor information of the target vehicle; wherein the obstacle vehicles include a front obstacle vehicle and a side obstacle vehicle; acquiring a target vehicle speed corresponding to the target vehicle, and determining collision interval time based on the obstacle vehicle speed and the target vehicle speed; and determining a lane change safety zone based on the collision interval time, the obstacle vehicle speed and the target vehicle speed, and determining a target lane change based on the lane change safety zone. Based on the technical scheme, the speed of the obstacle vehicle is determined based on the sensor of the target vehicle, and the lane change safety zone is determined according to the speed of the obstacle vehicle and the speed of the target vehicle, so that the target lane change is determined, the lane change efficiency can be improved, and the safety of the vehicle in lane change can be ensured.

Description

Vehicle lane changing method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle lane changing method, a device, an electronic device, and a storage medium.

Background

With the continuous development of vehicle technology, the automatic driving of the vehicle improves the driving experience of the user and avoids a large number of repeated driving scenes.

However, when the conventional automatic driving scheme faces the lane switching of the vehicle, the user is often required to judge the lane switching time according to the requirement, and the user is required to manually send a lane switching instruction to control the vehicle to switch lanes, so that the requirement of the user cannot be met, and the success rate of automatic lane switching cannot be ensured.

Disclosure of Invention

The invention provides a vehicle lane change method, a device, electronic equipment and a storage medium, wherein the speed of an obstacle vehicle is determined through sensor information, corresponding collision interval time is determined according to the speed, a corresponding lane change safety zone is further determined, and a target lane change is determined based on the lane change safety zone, so that the problem that the existing lane change scheme cannot automatically determine the target lane change is solved.

According to an aspect of the present invention, there is provided a vehicle lane changing method, the method including:

determining an obstacle vehicle speed corresponding to a lane to be changed based on sensor information of the target vehicle; wherein the obstacle vehicles include a front obstacle vehicle and a side obstacle vehicle;

acquiring a target vehicle speed corresponding to the target vehicle, and determining collision interval time based on the obstacle vehicle speed and the target vehicle speed;

and determining a lane change safety zone based on the collision interval time, the obstacle vehicle speed and the target vehicle speed, and determining a target lane change based on the lane change safety zone.

According to another aspect of the present invention, there is provided a lane-changing apparatus for a vehicle, the apparatus comprising:

an obstacle vehicle determination module for determining an obstacle vehicle speed corresponding to a lane to be changed based on sensor information of the target vehicle; wherein the obstacle vehicles include a front obstacle vehicle and a side obstacle vehicle;

the collision interval time determining module is used for acquiring a target vehicle speed corresponding to the target vehicle and determining collision interval time based on the obstacle vehicle speed and the target vehicle speed;

and the target lane determining module is used for determining a lane change safety zone based on the collision interval time, the obstacle vehicle speed and the target vehicle speed and determining a target lane change based on the lane change safety zone.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle lane change method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a vehicle lane change method according to any embodiment of the present invention.

According to the technical scheme, the obstacle vehicle speed corresponding to the lane to be changed is determined based on sensor information of the target vehicle, the obstacle vehicle comprises a front obstacle vehicle and a side obstacle vehicle, the target vehicle speed corresponding to the target vehicle is obtained, the collision interval time is determined based on the obstacle vehicle speed and the target vehicle speed, the lane change safety zone is finally determined based on the collision interval time, the obstacle vehicle speed and the target vehicle speed, and the lane change lane is determined based on the lane change safety zone. Based on the technical scheme, the speed of the obstacle vehicle is determined based on the sensor of the target vehicle, and the lane change safety zone is determined according to the speed of the obstacle vehicle and the speed of the target vehicle, so that the target lane change is determined, the lane change efficiency can be improved, and the safety of the vehicle in lane change can be ensured.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a lane changing method for a vehicle according to an embodiment of the present invention;

FIG. 2 is a flow chart of a lane changing method for a vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic illustration of an obstacle vehicle provided by an embodiment of the invention;

FIG. 4 is a schematic diagram of a lane change security area according to an embodiment of the present invention;

FIG. 5 is a block diagram of a lane-changing apparatus for a vehicle according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a schematic flow chart of a lane changing method for a vehicle, which is provided by the embodiment of the invention, and the method can be applied to determining the speed of an obstacle vehicle based on sensor information of a target vehicle, determining the collision interval time based on the speed of the obstacle vehicle and the target speed, determining a lane changing safety zone according to the parameters, and determining the situation of lane changing of the target based on the lane changing safety zone.

It should be noted that, the lane changing method for a vehicle provided in the embodiment of the present invention is to determine and process an automatic driving lane changing environment in a high-speed scene, as shown in fig. 1, and the method includes:

s110, determining the speed of the obstacle vehicle corresponding to the lane to be changed based on the sensor information of the target vehicle.

The target vehicle may be a vehicle that the user is currently driving. The sensor information is understood to be information acquired based on a sensor provided in the target vehicle, and may be, for example, information acquired by a vehicle-mounted sensor such as a laser radar, an image sensor, or an ultrasonic radar. The lane to be changed may be a lane to be changed, such as a left side lane and/or a right side lane, and the obstacle vehicles include a front obstacle vehicle and a side obstacle vehicle corresponding to the lane to be changed. The obstacle vehicle speed may be understood as the running speed of the obstacle vehicle.

Specifically, when it is detected that the current running state of the target vehicle needs to be changed, sensor information may be acquired based on a sensor of the target vehicle, and a speed of the obstacle vehicle corresponding to the lane to be changed may be determined based on the sensor information, for example, if the current running speed of the target vehicle is greater than the running speed of the obstacle vehicle ahead, it may be determined that the current running state satisfies a preset lane change condition. The obstacle vehicle may be a vehicle that prevents the target vehicle from traveling normally, or may be a vehicle that prevents the target vehicle from changing lanes, that is, the target vehicle may be a vehicle that is not only in front of the target vehicle but also behind the target vehicle.

On the basis of the technical scheme, before the obstacle vehicle is determined based on the image information of the lane to be changed, the method further comprises the following steps: acquiring lane image information corresponding to the target vehicle, and determining lane line information based on the lane image information; and if the lane line information is a broken line, determining that the lane corresponding to the lane line information is the lane to be changed.

The lane image information may be image information of a lane acquired by an image sensor. The lane line information may be understood as two side lane lines of the current driving lane. The lane line information comprises left lane line information and right lane line information;

specifically, lane line information of a current vehicle driving lane may be determined based on lane image information by acquiring lane image information corresponding to a target vehicle, and a lane to be changed may be determined based on the lane line information, for example, if a left lane line of the current driving lane is a broken line, the left lane is determined to be a lane to be changed, if a right lane line of the current driving lane is a broken line, the right lane is determined to be a lane to be changed, and if both lane lines on both sides of the current driving lane are not broken lines, both lane lines on both sides are determined to be variable lanes, and both lane lines on both sides are determined to be a lane to be changed.

On the basis of the technical scheme, the method for determining the speed of the obstacle vehicle corresponding to the lane to be changed based on the sensor information of the target vehicle comprises the following steps: acquiring lane image information corresponding to a lane to be changed, and determining whether an obstacle vehicle exists in the lane to be changed or not based on the lane image information; and if the obstacle vehicle exists in the lane to be changed, acquiring the speed of the obstacle vehicle corresponding to the obstacle vehicle based on a vehicle sensor.

Specifically, before the speed of the obstacle vehicle is acquired, it is also possible to determine whether the obstacle vehicle exists in the lane to be changed by acquiring lane image information corresponding to the lane to be changed and analyzing the lane image information corresponding to the lane to be changed, and if the obstacle vehicle exists, acquire the speed of the obstacle vehicle corresponding to the obstacle vehicle based on the vehicle sensor, for example, may acquire the speed of the obstacle vehicle by a laser radar.

It should be noted that if it is determined that the barrier-free vehicle blocks the lane change of the target vehicle based on the lane image information corresponding to the lane to be changed, the barrier-free vehicle may be directly used as the target lane change, and after the preset lane change condition is satisfied, the target vehicle may be controlled to change the lane to the target lane change. The preset lane change condition may be understood as a shortest lane change distance determined based on vehicle information of the target vehicle. The vehicle information may be vehicle speed information, acceleration information, body length and width information, position information, heading angle information, and the like of the target vehicle. And, the corresponding preset lane change condition of vehicles with different performances is different.

On the basis of the technical scheme, before the obstacle vehicle is determined based on the image information of the lane to be changed, the method further comprises the following steps: acquiring lane change time information and vehicle power parameters corresponding to the target vehicle, and determining a collision interval time table to be applied based on the lane change time information and the vehicle power parameters; and optimizing the to-be-applied collision interval time table based on the preset target vehicle speed and the preset obstacle vehicle speed, and determining a target collision time interval table.

The lane change time information may be a lane change time of the vehicle determined based on vehicle parameters. The vehicle dynamics parameters are understood to mean the driving parameters of the vehicle, such as maximum acceleration, engine speed, etc. The collision interval schedule to be applied may be a collision interval time determined based on the power parameters of the target vehicle and the lane change time. The preset target vehicle speed may be understood as a predetermined vehicle speed with a large lane change, for example 72kph,81kph,90kph, etc. The preset obstacle vehicle speed may be understood as speed information of the preset obstacle vehicle. The target collision interval time interval table may be a collision time interval table obtained after optimizing the collision interval time table to be applied.

Specifically, in order to ensure that the collision interval time can be accurately determined in the lane changing process of the target vehicle, the collision interval time table to be applied can be determined by acquiring lane changing time information and vehicle power parameters corresponding to the target vehicle, determining the collision interval time table to be applied based on the lane changing time information and the vehicle power parameters, and optimizing the collision interval time table to be applied according to the preset target vehicle speed and the preset obstacle vehicle speed. For example, the definition of the collision time interval can be refined by dividing the target vehicle speed and the obstacle vehicle speed into multiple sections, because the technical scheme provided by the embodiment of the invention is applied to a high-speed scene, and because the vehicle speed range of the high-speed scene is relatively large, the relative vehicle speed can be quite large (for example, the vehicle speed range is normally 80-120 kph, but is larger than the range in practical cases, the vehicle speed of an extreme scene can be lower than 54 kph), for example, if a set of calculation formulas are used for calculation, if a certain parameter is unreasonably designed, the collision time interval is unreasonably calculated at a special moment, so that the driving safety is influenced, and once the situation is difficult to check and modify, the problem can be well solved by the sections, and because a large number of road tests find that some vehicle speed sections are frequently problematic or scenes with frequent lane changing requirements, the collision time interval can be subjected to key optimization and debugging aiming at the vehicle speed sections, so that a reasonable value is developed, and finally, the target collision time interval table is generated.

S120, acquiring a target vehicle speed corresponding to the target vehicle, and determining collision interval time based on the obstacle vehicle speed and the target vehicle speed.

Wherein the target vehicle speed may be a current running speed of the target vehicle.

Specifically, after the speed of the obstacle vehicle is determined, the target speed corresponding to the target vehicle may be obtained, and the collision interval time may be determined according to the target speed and the speed of the obstacle vehicle, for example, the target speed of the target vehicle may be collected by a speed sensor disposed on the target vehicle, the distance between the target vehicle and the obstacle vehicle may be collected by a distance sensor, and the collision interval time between the target vehicle and the obstacle vehicle may be calculated based on the collected data and the vehicle speed information.

On the basis of the technical scheme, the method for determining the collision interval time based on the obstacle vehicle speed and the target vehicle speed comprises the following steps: acquiring a target collision interval time table corresponding to the target vehicle; based on the obstacle vehicle speed and the target vehicle speed, a collision interval time corresponding to the obstacle vehicle is determined from the target collision interval schedule.

Specifically, the corresponding target collision interval schedule may be retrieved from the storage device in the target vehicle, and the collision interval time corresponding to the obstacle vehicle may be found by matching the target collision interval schedule based on the speed of the obstacle vehicle and the speed of the target vehicle, where it is to be noted that the collision interval times corresponding to different obstacle vehicles are different, that is, if there are a plurality of obstacle vehicles at the same time, it is necessary to determine the corresponding collision interval time for each obstacle vehicle. And the target collision interval time table can be stored in the cloud server, and the target vehicle can download the latest target collision interval time table from the cloud server according to a preset updating period so as to realize even updating of data.

S130, determining a lane change safety zone based on the collision interval time, the obstacle vehicle speed and the target vehicle speed, and determining a target lane change based on the lane change safety zone.

The lane change safety zone can be understood as a safety zone of the target vehicle during the lane change. The target lane change may be the finalized lane to be changed.

Specifically, after the collision interval time, the obstacle vehicle speed and the target vehicle speed are acquired, the lane change safety zone may be calculated based on the above parameters, for example, if the obstacle vehicle exists in the left lane, the left lane change safety zone may be calculated based on the speed difference and the collision interval time after determining the speed difference based on the target vehicle speed and the obstacle vehicle speed. After the lane change safety area corresponding to each obstacle vehicle is determined, a target lane change can be determined based on the lane change safety area, for example, a lane with the largest lane change safety area can be selected as the target lane change, and the target lane change can be comprehensively determined based on the speed change trend of the target vehicle and the lane change safety area.

On the basis of the technical scheme, the lane change safety zone is determined based on the collision interval time, the obstacle vehicle speed and the target vehicle speed, and comprises the following steps: determining a forward lane change safety zone based on a forward collision time interval, a forward obstacle vehicle speed, and the target vehicle speed; and if the front lane change safety zone meets the preset lane change condition, determining a side lane change safety zone based on the collision interval time, the side obstacle vehicle speed and the target vehicle speed.

Wherein the forward collision time interval may be a collision interval time between the target vehicle and the forward obstacle vehicle. The preset channel change condition can be understood as a preset channel change condition, for example, the length of the front channel change safety zone needs to be greater than 10 m.

Specifically, a front lane change safety zone is determined based on a front collision time interval, a front obstacle vehicle speed and the target vehicle speed, and if the front lane change safety zone meets a preset lane change condition, a side lane change safety zone is determined based on the collision time interval, the side obstacle vehicle speed and the target vehicle speed. It should be noted that, firstly, the front lane change safety area is judged in the pass to determine whether the preliminary lane change condition is met, if the front lane change safety area is smaller, the lane change risk is larger at this time, the lane change is not needed, or the target vehicle is controlled to decelerate and then judge whether the lane change is needed again, so that the safety performance of automatic lane change is ensured.

On the basis of the above technical solution, the determining the side lane change safety zone based on the collision interval time, the side obstacle vehicle speed and the target vehicle speed includes: acquiring a side collision interval time corresponding to a side obstacle vehicle; a side lane change safety zone is determined based on the side collision interval time, the side obstacle vehicle speed, and the target vehicle speed.

The side obstacle vehicles may be obstacle vehicles located at sides of the target vehicle, such as a left front obstacle vehicle, a left rear obstacle vehicle, a right front obstacle vehicle, and a right rear obstacle vehicle, and the corresponding side lane change safety zones include at least one of a left front lane change safety zone, a left rear lane change safety zone, a right front lane change safety zone, and a right rear lane change safety zone.

Specifically, a side collision interval time corresponding to a side obstacle vehicle is obtained, and then a side lane change safety zone is determined based on the side collision interval time, the side obstacle vehicle speed and the target vehicle speed.

Example two

Fig. 2 is a flowchart of a vehicle lane changing method according to an embodiment of the present invention, where the vehicle lane changing method is further optimized based on the foregoing embodiment. The specific implementation manner can be seen in the technical scheme of the embodiment. Wherein, the technical terms identical to or corresponding to the above embodiments are not repeated herein.

As shown in fig. 2, the method according to the embodiment of the present invention includes:

determining a lane to be changed: specifically, as shown in fig. 3, the channel changing environment of the technical solution provided in the embodiment of the present invention mainly includes two factors: vehicle target information and lane line information; three lane ranges: the vehicle target comprises a vehicle lane and obstacle vehicles on the left and right adjacent lanes; lane line targets refer to the own vehicle lane line and left and right adjacent lane lines. And then sensor information is acquired through a sensor arranged on the target vehicle, and the lane to be changed is determined based on the sensor information.

Determining a lane change safety zone: specifically, as shown in fig. 4, the technical solution provided in the embodiment of the present invention mainly calculates 5 distance data, L1: the distance between the front obstacle vehicle and the own vehicle; l2: the distance between the left front obstacle vehicle and the own vehicle; l3: the distance between the left rear obstacle vehicle and the own vehicle; l4: the distance between the right front obstacle vehicle and the own vehicle; l5: the distance between the right rear obstacle vehicle and the own vehicle; the distance information L1, L2, L3, L4 and L5 related to the 5 vehicle targets and the own vehicle and adjacent lane lines are combined to form the own vehicle lane change safety zone. Furthermore, after the speed of the obstacle vehicle and the speed of the target vehicle are obtained, the collision interval time can be determined from a preset table according to the speed information, and the distance definition of the L1-L5 is defined by adopting the technical scheme provided by the invention, and then the distances L1-L5 are calculated based on the collision interval time. The method has the advantages that on one hand, the channel change completion time can be estimated by combining the performance of the vehicle transverse and longitudinal control algorithm, and on the other hand, the reasonable TTC time is defined on the basis; on the one hand, the time of collision interval can be reasonably defined based on the time target of the lane change completion required by the fuel oil vehicle or the pure electric vehicle due to different power; on the other hand, in the actual drive test debugging, based on the driving sensory experience of a driver or a passenger, the range of the lane safety zone can be changed by adjusting the collision interval time to reasonably optimize. That is, the technical scheme provided by the invention defines the collision interval time by adopting a matrix table look-up aspect combining the vehicle speed and the target vehicle speed. Meanwhile, the vehicle speed and the target vehicle speed are divided into a plurality of sections to refine the collision interval time.

Determining a target lane change: specifically, when no vehicle target exists in the lane change safety area, the lane change environment is safe, and lane change treatment can be performed; otherwise, a risk is indicated, and a lane change or other special treatment is paused. It should be noted that, the technical solution provided in the embodiment of the present invention is to separate L2 and L3 from L4 and L5, instead of multiplexing L2 and L3, so as to monitor whether there is a risk in the SR of the left and right adjacent lanes of the host vehicle at the same time, and to perform left lane change or right lane change according to the actual situation, if a group of L2 and L3 data is calculated, the method is only suitable for a scenario of "preparing to switch left or right first and then judging whether there is a risk in the lane-switching safety area", and the scenario is mostly implemented when a driver is required to actively switch the lane, i.e. an L2 level autopilot function.

Example III

Fig. 5 is a block diagram of a vehicle lane changing apparatus according to an embodiment of the present invention. As shown in fig. 5, the apparatus includes: an obstacle vehicle determination module 510, a collision interval time determination module 520, and a target lane determination module 530.

An obstacle vehicle determination module 510 for determining an obstacle vehicle speed corresponding to a lane to be changed based on sensor information of the target vehicle; wherein the obstacle vehicles include a front obstacle vehicle and a side obstacle vehicle;

a collision interval time determining module 520, configured to obtain a target vehicle speed corresponding to the target vehicle, and determine a collision interval time based on the obstacle vehicle speed and the target vehicle speed;

a target lane determination module 530 for determining a lane change safety zone based on the collision interval time, the obstacle vehicle speed, and the target vehicle speed, and determining a target lane change based on the lane change safety zone.

On the basis of the technical scheme, the obstacle vehicle determining module is further used for acquiring lane image information corresponding to the target vehicle and determining lane line information based on the lane image information before the obstacle vehicle is determined based on the image information of the lane to be changed; the lane line information comprises left lane line information and right lane line information; and if the lane line information is a broken line, determining that the lane corresponding to the lane line information is the lane to be changed.

On the basis of the technical scheme, the obstacle vehicle determining module is further used for acquiring lane image information corresponding to a lane to be changed and determining whether an obstacle vehicle exists in the lane to be changed or not based on the lane image information; and if the obstacle vehicle exists in the lane to be changed, acquiring the speed of the obstacle vehicle corresponding to the obstacle vehicle based on a vehicle sensor.

On the basis of the technical scheme, the device further comprises: the target collision time interval table determining module is used for acquiring lane changing time information and vehicle power parameters corresponding to the target vehicle before the obstacle vehicle is determined based on the image information of the lane to be changed, and determining a collision interval table to be applied based on the lane changing time information and the vehicle power parameters; and optimizing the to-be-applied collision interval time table based on the preset target vehicle speed and the preset obstacle vehicle speed, and determining a target collision time interval table.

On the basis of the technical scheme, the collision interval time determining module is used for acquiring a target collision interval time table corresponding to the target vehicle; based on the obstacle vehicle speed and the target vehicle speed, a collision interval time corresponding to the obstacle vehicle is determined from the target collision interval schedule.

On the basis of the technical scheme, the collision interval time determining module is used for determining a front lane change safety zone based on a front collision time interval, a front obstacle vehicle speed and the target vehicle speed; and if the front lane change safety zone meets the preset lane change condition, determining a side lane change safety zone based on the collision interval time, the side obstacle vehicle speed and the target vehicle speed.

On the basis of the technical scheme, the collision interval time determining module is used for acquiring the side collision interval time corresponding to the side obstacle vehicle; determining a side lane change safety zone based on the side collision interval time, the side obstacle vehicle speed, and the target vehicle speed; the side lane change safety zone comprises at least one of a left front lane change safety zone, a left rear lane change safety zone, a right front lane change safety zone and a right rear lane change safety zone.

The vehicle lane changing device provided by the embodiment of the invention can execute the vehicle lane changing method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 6 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a vehicle lane change method.

In some embodiments, the vehicle lane-changing method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle lane change method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle lane change method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle lane-changing method, comprising:

2. The method according to claim 1, characterized by, before the determination of the obstacle vehicle based on the image information of the lane to be changed, further comprising:

acquiring lane image information corresponding to the target vehicle, and determining lane line information based on the lane image information; the lane line information comprises left lane line information and right lane line information;

and if the lane line information is a broken line, determining that the lane corresponding to the lane line information is the lane to be changed.

3. The method according to claim 1, wherein the determining the obstacle vehicle speed corresponding to the lane to be changed based on the sensor information of the target vehicle includes:

acquiring lane image information corresponding to a lane to be changed, and determining whether an obstacle vehicle exists in the lane to be changed or not based on the lane image information;

and if the obstacle vehicle exists in the lane to be changed, acquiring the speed of the obstacle vehicle corresponding to the obstacle vehicle based on a vehicle sensor.

4. The method according to claim 1, characterized by, before the determination of the obstacle vehicle based on the image information of the lane to be changed, further comprising:

acquiring lane change time information and vehicle power parameters corresponding to the target vehicle, and determining a collision interval time table to be applied based on the lane change time information and the vehicle power parameters;

and optimizing the to-be-applied collision interval time table based on the preset target vehicle speed and the preset obstacle vehicle speed, and determining a target collision time interval table.

5. The method of claim 1, wherein the determining a collision interval time based on the obstacle vehicle speed and a target vehicle speed comprises:

acquiring a target collision interval time table corresponding to the target vehicle;

based on the obstacle vehicle speed and the target vehicle speed, a collision interval time corresponding to the obstacle vehicle is determined from the target collision interval schedule.

6. The method of claim 1, wherein the determining a lane-change safety zone based on the collision interval, the obstacle vehicle speed, and the target vehicle speed comprises:

determining a forward lane change safety zone based on a forward collision time interval, a forward obstacle vehicle speed, and the target vehicle speed;

and if the front lane change safety zone meets the preset lane change condition, determining a side lane change safety zone based on the collision interval time, the side obstacle vehicle speed and the target vehicle speed.

7. The method of claim 6, wherein the determining a side lane change safety zone based on the collision interval, a side obstacle vehicle speed, and the target vehicle speed comprises:

acquiring a side collision interval time corresponding to a side obstacle vehicle;

determining a side lane change safety zone based on the side collision interval time, the side obstacle vehicle speed, and the target vehicle speed; the side lane change safety zone comprises at least one of a left front lane change safety zone, a left rear lane change safety zone, a right front lane change safety zone and a right rear lane change safety zone.

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

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform 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 stores computer instructions for causing a processor to implement the vehicle lane change method of any one of claims 1-7 when executed.