CN117842010A

CN117842010A - Automatic driving lane changing method, device, terminal equipment and storage medium

Info

Publication number: CN117842010A
Application number: CN202211206168.9A
Authority: CN
Inventors: 赵仕强; 高健; 刘紫薇; 马晓强; 彭树礼; 高杰
Original assignee: Haomo Zhixing Technology Co Ltd
Current assignee: Haomo Zhixing Technology Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2024-04-09

Abstract

The application is applicable to the technical field of automatic driving, and provides a lane changing method, a lane changing device and terminal equipment for automatic driving, wherein the method comprises the following steps: determining that the target vehicle generates a lane changing intention when determining that the road type of the current road of the target vehicle changes at the current lane according to the current vehicle information and the current road information of the target vehicle; determining a target lane for lane change according to the road type change direction corresponding to the current road and the current road information; when the target lane meets the lane changing condition, determining a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information; the target vehicle is controlled to change lanes to the target lane within the safety boundary. Therefore, the road type is changed automatically, so that the running safety of the vehicle is ensured, and the safety and the practicability of automatic driving are improved.

Description

Automatic driving lane changing method, device, terminal equipment and storage medium

Technical Field

The application belongs to the technical field of automatic driving, and particularly relates to a lane changing method, a lane changing device, terminal equipment and a computer readable storage medium for automatic driving.

Background

The adaptive cruise control system (Adaptive Cruise Control System, ACCS) senses the distance between each object in the surrounding environment and itself through sensors in the vehicle, and can maintain the set maximum cruise speed for forward driving on the one hand, and can adaptively adjust the vehicle speed according to the distance between the vehicle and the vehicle in front on the other hand, and maintain the safety distance. Automatic Lane Change Assist (ALC) is a sub-function of ACCS, and is based on ASSC, for autonomously judging Lane Change intention and whether Lane Change conditions are met or not under the condition that a user does not turn on a turn light, so as to implement autonomous Lane Change.

In the related art, if the road shape of the road on which the vehicle is located changes, such as narrowing, widening, etc., during the running of the vehicle, the road is not changed in time, which easily causes the danger of the vehicle. However, the conventional ACCS cannot perform autonomous lane change according to the lane change, thereby reducing the safety and practicality of automatic driving and affecting the user experience.

Disclosure of Invention

The embodiment of the application provides an automatic driving lane changing method, device, terminal equipment and storage medium, which can solve the problem that if the road type of a road where a vehicle is located is changed in the driving process, the lane changing is easy to cause the danger of the vehicle in the future, however, the conventional ACCS cannot automatically change the lane according to the road type change, so that the safety and the practicability of automatic driving are reduced, and the user experience is influenced.

In a first aspect, an embodiment of the present application provides a lane-changing method for automatic driving, including: acquiring current vehicle information of a target vehicle and current road information of the target vehicle, wherein the current vehicle information comprises the current position of the target vehicle; determining a lane where the target vehicle is currently located according to the current position of the target vehicle; determining that the target vehicle generates a lane change intention when determining that the road type of the current road of the target vehicle changes at the current lane according to the current road information; determining a target lane for lane change according to the road type change direction corresponding to the current road and the current road information; when the target lane meets the lane changing condition, determining a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information; the target vehicle is controlled to change lanes to the target lane within the safety boundary.

In a possible implementation manner of the first aspect, when determining, according to the current road information, that a road shape of a current road where the target vehicle is located at the current lane changes, determining that the target vehicle generates a lane change intention includes:

And when the distance between the current position of the target vehicle and the road type change point is a preset distance, determining that the target vehicle generates the lane change intention.

Optionally, in another possible implementation manner of the first aspect, the acquiring current vehicle information of the target vehicle and current road information of the target vehicle includes:

acquiring current navigation information of a target vehicle;

determining current vehicle information and current road information according to the navigation information;

and/or the number of the groups of groups,

acquiring perception information acquired by perception equipment in a target vehicle;

and analyzing the perception information to determine the current vehicle information and the current road information.

Optionally, in a further possible implementation manner of the first aspect, the sensing device includes an image capturing device, and the sensing information includes image data captured by the image capturing device in the target vehicle; correspondingly, the analyzing the perceived information to determine the current vehicle information and the current road information includes:

analyzing the image data to determine road sign information contained in the current road;

and/or the number of the groups of groups,

and analyzing the image data to determine lane change information included in the current road.

Optionally, in a further possible implementation manner of the first aspect, the current vehicle information further includes a current speed of the target vehicle, the current road information includes other vehicle information and barrier information, the other vehicle information includes a current position of the other vehicle and a current speed of the other vehicle, and the barrier information includes a current position of the barrier; correspondingly, when the target lane meets the lane change condition, before determining the safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information, the method further comprises the following steps:

determining each first vehicle and each first obstacle contained in the target lane according to the current position of each vehicle and the current position of each obstacle;

determining collision time between the target vehicle and each first other vehicle and each first obstacle according to the current speed and the current position of the target vehicle, the current speed and the current position of each first other vehicle and the current position of each first obstacle;

and when the collision time between the target vehicle and each first other vehicle and each first obstacle meets the lane change condition, determining that the target lane meets the lane change condition.

Optionally, in a further possible implementation manner of the first aspect, the current road information includes other vehicle information, barrier information, and lane line information, the other vehicle information includes a current position of the other vehicle and a current speed of the other vehicle, and the barrier information includes a current position of the barrier; correspondingly, when the target lane meets the lane change condition, determining the safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information includes:

according to the current road information, determining the current lane, the target lane, and each second other vehicle and each second obstacle contained in each lane between the current lane and the target lane;

and determining a safety boundary corresponding to the target vehicle according to the lane line information of the target lane, the current position and the current speed of each second vehicle and the current position of each second obstacle.

Optionally, in another possible implementation manner of the first aspect, when the target lane meets the lane change condition, after determining the safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information, the method further includes:

acquiring the current position and the current speed of a third other vehicle which enters the safety boundary;

Determining a predicted running track corresponding to the third vehicle according to the current position and the current speed of the third vehicle;

and updating the safety boundary according to the predicted running track corresponding to the third vehicle.

Optionally, in still another possible implementation manner of the first aspect, the current vehicle information includes a current speed of the target vehicle and a vehicle type, the current road information includes lane line information, and the lane line information includes a confidence level of a lane line; correspondingly, the controlling the target vehicle to change the lane to the target lane within the safety boundary includes:

determining the current steering wheel corner of the target vehicle in lane change according to the lane line confidence of the target lane, the current speed of the target vehicle and the vehicle type of the target vehicle;

and controlling the target vehicle to change the lane to the target lane within the safety boundary according to the current steering wheel angle.

Optionally, in a further possible implementation manner of the first aspect, the controlling the target vehicle to change the lane to the target lane within the safety boundary includes:

continuously detecting whether a target lane meets lane change conditions and whether a target vehicle has lane change intention or not within preset lane change execution waiting time;

When the time interval between the current time and the time when the target lane is determined to meet the lane change condition reaches the preset lane change execution waiting time, if the target lane meets the lane change condition at the current time and the lane change intention exists in the target vehicle, controlling the target vehicle to change lanes to the target lane in the safety boundary at the current time;

if the target lane does not meet the lane changing condition at the current moment and the target vehicle has the lane changing intention, the current speed of the target vehicle is adjusted, and whether the target lane meets the lane changing condition is continuously detected;

and if the target vehicle does not have the lane changing intention at the current moment, canceling execution of lane changing.

Optionally, in still another possible implementation manner of the first aspect, after determining the target lane for lane change according to the road type change direction corresponding to the current road and the current road information, the method further includes:

when the target lane does not meet the lane changing condition, the current speed of the target vehicle is adjusted, and whether the target lane meets the lane changing condition is continuously detected within the preset continuous detection time.

Optionally, in another possible implementation manner of the first aspect, after the controlling the target vehicle to change the lane to the target lane within the safety boundary, the method further includes:

When the body of the target vehicle completely enters the target lane and the two side lane lines corresponding to the target lane are parallel, determining the offset of the target vehicle in the target lane;

and when the offset is in a preset offset range, determining that the lane change of the target vehicle is completed.

In a second aspect, an embodiment of the present application provides an automatic driving lane-changing apparatus, including: the first acquisition module is used for acquiring current vehicle information of the target vehicle and current road information of the target vehicle, wherein the current vehicle information comprises the current position of the target vehicle; the first determining module is used for determining a lane where the target vehicle is currently located according to the current position of the target vehicle; the second determining module is used for determining that the target vehicle generates the lane changing intention when determining that the road type of the current road of the target vehicle at the current lane is changed according to the current road information; the third determining module is used for determining a target lane for lane changing according to the road type changing direction corresponding to the current road and the current road information; a fourth determining module, configured to determine, when the target lane meets a lane change condition, a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information; and the lane changing module is used for controlling the target vehicle to change lanes to the target lane in the safety boundary.

In a possible implementation manner of the second aspect, the second determining module includes:

and the first determining unit is used for determining that the target vehicle generates the lane change intention when the distance between the current position of the target vehicle and the road type change point is a preset distance.

Optionally, in another possible implementation manner of the second aspect, the first obtaining module includes:

the first acquisition unit is used for acquiring current navigation information of the target vehicle;

the second determining unit is used for determining current vehicle information and current road information according to the navigation information;

and/or the number of the groups of groups,

a second acquisition unit configured to acquire perception information acquired by a perception device in a target vehicle;

and the third determining unit is used for analyzing the perception information to determine the current vehicle information and the current road information.

Optionally, in a further possible implementation manner of the second aspect, the sensing device includes an image capturing device, and the sensing information includes image data captured by the image capturing device in the target vehicle; correspondingly, the third determining unit is specifically configured to:

And/or the number of the groups of groups,

Optionally, in a further possible implementation manner of the second aspect, the current vehicle information further includes a current speed of the target vehicle, the current road information includes other vehicle information and barrier information, the other vehicle information includes a current position of the other vehicle and a current speed of the other vehicle, and the barrier information includes a current position of the barrier; correspondingly, the device further comprises:

a fifth determining module, configured to determine each first vehicle and each first obstacle included in the target lane according to the current position of each vehicle and the current position of each obstacle;

a sixth determining module, configured to determine a collision time between the target vehicle and each first obstacle according to the current speed, the current position, the current speed and the current position of each first vehicle and the current position of each first obstacle;

and the seventh determining module is used for determining that the target lane meets the lane change condition when the collision time between the target vehicle and each first other vehicle and each first obstacle meet the lane change condition.

Optionally, in a further possible implementation manner of the second aspect, the current road information includes other vehicle information, barrier information, and lane line information, the other vehicle information includes a current position of the other vehicle and a current speed of the other vehicle, and the barrier information includes a current position of the barrier; correspondingly, the fifth determining module includes:

a fourth determining unit, configured to determine, according to the current road information, each second vehicle and each second obstacle included in the current lane, the target lane, and each lane between the current lane and the target lane;

and a fifth determining unit, configured to determine a safety boundary corresponding to the target vehicle according to lane line information of the target lane, the current position and the current speed of each second vehicle, and the current position of each second obstacle.

Optionally, in another possible implementation manner of the second aspect, the apparatus further includes:

the second acquisition module is used for acquiring the current position and the current speed of a third other vehicle which enters the safety boundary;

the eighth determining module is used for determining a predicted running track corresponding to the third vehicle according to the current position and the current speed of the third vehicle;

And the updating module is used for updating the safety boundary according to the predicted running track corresponding to the third other vehicle.

Optionally, in a further possible implementation manner of the second aspect, the current vehicle information includes a current speed of the target vehicle and a vehicle type, the current road information includes lane line information, and the lane line information includes a confidence level of a lane line; correspondingly, the lane changing module comprises:

a sixth determining unit, configured to determine a current steering wheel angle of the target vehicle when the target vehicle changes lanes according to the lane line confidence level of the target lane, the current speed of the target vehicle, and the vehicle type of the target vehicle;

the first lane changing unit is used for controlling the target vehicle to change lanes to the target lane in the safety boundary according to the current steering wheel angle.

Optionally, in a further possible implementation manner of the second aspect, the lane changing module includes:

the detection unit is used for continuously detecting whether the target lane meets the lane change condition and whether the target vehicle has the lane change intention or not in the preset lane change execution waiting time;

the second lane changing unit is used for controlling the target vehicle to change lanes to the target lane in the safety boundary at the current moment if the target lane meets the lane changing condition at the current moment and the target vehicle has the lane changing intention when the time interval between the current moment and the moment when the target lane is determined to meet the lane changing condition reaches the preset lane changing execution waiting time;

The adjusting unit is used for adjusting the current speed of the target vehicle and continuously detecting whether the target lane meets the lane changing condition if the target lane does not meet the lane changing condition at the current moment and the target vehicle has the lane changing intention;

and the cancellation execution unit is used for canceling execution of lane changing if the target vehicle does not have the lane changing intention at the current moment.

Optionally, in a further possible implementation manner of the second aspect, the apparatus further includes:

and the adjusting module is used for adjusting the current speed of the target vehicle when the target lane does not meet the lane changing condition, and continuously detecting whether the target lane meets the lane changing condition within the preset continuous detection time.

a ninth determining module, configured to determine an offset of the target vehicle in the target lane when the body of the target vehicle completely enters the target lane and the body of the target vehicle is parallel to two lane lines corresponding to the target lane;

and the tenth determining module is used for determining that the lane change of the target vehicle is completed when the offset is in a preset offset range.

In a third aspect, an embodiment of the present application provides a terminal device, including: the system comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the lane change method of automatic driving as described above when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements a lane change method for autopilot as described above.

In a fifth aspect, embodiments of the present application provide a computer program product which, when run on a terminal device, causes the terminal device to perform a lane change method of autopilot as described above.

Compared with the prior art, the embodiment of the application has the beneficial effects that: the road type is changed automatically, so that the vehicle changes the road to the corresponding lane before reaching the road type change point, and the running safety of the vehicle is ensured, thereby improving the safety and the practicability of automatic driving and improving the user experience.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of an automatic lane change method according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a road shape change of a current road according to an embodiment of the present application;

FIG. 3 is a schematic diagram of another road shape change currently provided in an embodiment of the present application;

FIG. 4 is a flow chart of a lane-changing method for autopilot according to another embodiment of the present disclosure;

FIG. 5 is a flow chart of a lane-changing method for autopilot according to yet another embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of an automatic lane-changing device according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a terminal device provided in an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The lane change method, apparatus, terminal device, storage medium and computer program for automatic driving provided in the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 shows a schematic flow chart of an automatic driving lane change method according to an embodiment of the present application.

Step 101, obtaining current vehicle information of a target vehicle and current road information of the target vehicle, wherein the current vehicle information comprises a current position of the target vehicle.

It should be noted that, the lane-changing method for automatic driving according to the embodiment of the present application may be executed by the lane-changing device for automatic driving according to the embodiment of the present application. The lane-changing device for automatic driving according to the embodiment of the application can be configured in any automatic driving vehicle to execute the lane-changing method for automatic driving according to the embodiment of the application.

The target vehicle may refer to a vehicle that is currently used to perform the lane-changing method of automatic driving in the embodiment of the present application, i.e., a host vehicle.

The current vehicle information may include one or more of information of a current speed, a current position, a current heading angle, a current steering wheel angle, and the like of the target vehicle, which is not limited in the embodiment of the present application.

The current position of the target vehicle may be a real-time position of the target vehicle at the current moment, which is acquired through a positioning device or a navigation device in the target vehicle. For example, when the positioning device in the target vehicle is a global positioning system (Global Positioning System, GPS) device, the current position of the target vehicle may be GPS coordinate information of the target vehicle at the current time.

The current road information of the target vehicle may refer to the corresponding road information in the range that the sensing device in the target vehicle can sense at the current moment. The current road information may include one or more of other vehicle information, obstacle information, lane line information, sign information, road sign information, and the like included in the current road, which is not limited in the embodiment of the present application.

The other vehicles may refer to other vehicles except the target vehicle detected by the target vehicle in the current road where the target vehicle is located.

The information of the vehicle may include one or more of information of a current speed, a current position, a vehicle type, a vehicle size, and the like of the vehicle, which is not limited in the embodiment of the present application.

The types of information specifically included in the above listed types of information are only exemplary, and should not be construed as limiting the present application. In actual use, the specific information types contained in the various information can be determined according to actual needs and specific application scenarios, which are not limited in the embodiment of the present application.

In the embodiment of the application, the target vehicle can be provided with sensing devices such as an image acquisition device and various sensors for sensing the surrounding environment of the target vehicle, so that sensing information acquired by each sensing device in the target vehicle can be acquired in real time, and the sensing information of the target vehicle is analyzed to determine the current vehicle information of the target vehicle and the current road information of the target vehicle. In addition, when the navigation device is mounted in the target vehicle or connected with an external navigation device and navigation is started, the navigation information of the target vehicle and the perception information of the target vehicle can be combined to determine the current vehicle information and the current road information of the target vehicle.

As one possible implementation manner, when navigation is started in the target vehicle, current vehicle information and current road information of the target vehicle may be determined according to navigation information of the target vehicle. That is, in one possible implementation manner of the embodiment of the present application, the step 101 may include:

acquiring current navigation information of a target vehicle;

and determining current vehicle information and current road information according to the navigation information.

The current navigation information of the target vehicle may be acquired from a navigation device carried in the target vehicle when the target vehicle starts navigation.

As an example, when the target vehicle starts navigation, current navigation information generated by the navigation device according to the real-time running state of the target vehicle may be acquired in real time, and then current vehicle information such as the current position, the current lane, the current speed, the current heading angle, and the like of the target vehicle may be determined according to the current navigation information, and current road information such as lane information, road type change information, and the like of the road where the target vehicle is currently located may be determined according to the current navigation information.

As a possible implementation manner, the current vehicle information and the current road information can be determined through the perception information acquired by the perception device carried in the target vehicle, so as to improve the accuracy of environment perception. That is, in one possible implementation manner of the embodiment of the present application, the step 101 may include:

As a possible implementation manner, sensing devices such as an image acquisition device and various sensors can be configured in the target vehicle to sense the surrounding environment of the target vehicle, so that sensing information acquired by each sensing device in the target vehicle can be acquired in real time, and analysis processing can be performed on the sensing information of the target vehicle to determine current vehicle information of the target vehicle and current road information where the target vehicle is located.

As an example, when the current vehicle information of the target vehicle includes the current position and the current speed of the target vehicle, the real-time position of the target vehicle at the current time may be acquired by the positioning device in the target vehicle, and the real-time position of the target vehicle at the current time may be determined as the current position of the target vehicle. For example, when the positioning device in the target vehicle is a GPS device, the current position of the target vehicle may be GPS coordinate information of the target vehicle at the current time. And, the current speed of the target vehicle may be determined by detection data detected by a sensor such as a lidar, a millimeter wave radar or the like in the target vehicle.

As an example, when the current road information of the target vehicle includes other vehicle information such as the current position of the other vehicle and the current speed of the other vehicle, and includes information such as the current position of the obstacle, lane line information, road type change information, the current position of the other vehicle, the current speed of the other vehicle, and the position of the obstacle may be obtained by analyzing detection data of a sensor such as a laser radar or a millimeter wave radar in the target vehicle, or may be obtained by analyzing image data acquired by an image acquisition device mounted in the target vehicle, which is not limited in this embodiment of the present application. The current speed of each other vehicle in the current road can be directly detected by a sensor which is carried in the target vehicle and can sense speed information, such as a laser radar, a millimeter wave radar and the like; the current position of each other vehicle and the current position of each obstacle in the current road can be detected by a laser radar, a millimeter wave radar and the like carried in the target vehicle, so that the current position of each other vehicle and the current position of each obstacle can be determined according to the current position of the target vehicle and the current distance between the target vehicle and each other vehicle and each obstacle. The lane line information and the road type change information can be obtained by analyzing and processing image data acquired by an image acquisition device in the target vehicle.

It should be noted that the above listed types of information included in the current vehicle information and the current road information, and the manner in which the current vehicle information of the target vehicle is determined and the manner in which the current road information is determined are merely exemplary, and are not to be construed as limiting the present application. In actual use, the determination mode of the current vehicle information and the current road information of the target vehicle can be determined according to the type of the sensing device actually carried in the target vehicle, which is not limited in the embodiment of the present application.

As a possible implementation manner, when the target vehicle starts navigation, the current navigation information of the target vehicle and the perception information of the target vehicle can be combined to determine the current vehicle information and the current road information of the target vehicle together, so as to improve the comprehensiveness and accuracy of the acquired current vehicle information and the acquired current road information. Specific implementation processes and principles may refer to the detailed descriptions of the above steps, and are not repeated herein.

Further, when the current road information of the target vehicle is determined through the perception information of the target vehicle, road sign information, lane change information and the like in the current road can be determined through the image data collected by the target vehicle, so that the road type change of the current road of the target lane can be obtained in real time, and a lane change decision can be made in time. That is, in one possible implementation manner of the embodiment of the present application, the sensing device may include an image capturing device, and the sensing information may include image data captured by the image capturing device in the target vehicle; correspondingly, the analyzing the perceived information to determine the current vehicle information and the current road information includes:

and/or the number of the groups of groups,

As a possible implementation manner, since the road type change of the road is usually pre-warned through road signs, such as lane narrowing, lane widening, lane merging and the like, and the lane line change information in the road can reflect the road type change of the road, the embodiment of the application can sense the road type change condition of the road where the current road is located by acquiring the road sign information and/or the lane line change information included in the current road.

As an example, an image capturing device in a target vehicle may acquire image data in real time, and analyze the acquired image data (for example, may perform target detection on the image data) to determine each target object included in the image data, and when a landmark is included in the target object, identify content displayed in the landmark to determine landmark information included in a current road.

As an example, the obtained image data may be analyzed (for example, the image data may be subjected to object detection) to determine lane line information contained in the image data, and when the image data contains a lane line, the direction change of the lane line is identified to determine lane line change information contained in the current road, so that in a subsequent step, whether the current road has a road type change may be determined according to the lane line direction change condition contained in the lane line change information.

As an example, the obtained image data may be analyzed, and road sign information and lane change information included in the current road may be obtained at the same time, so that road type change detection may be performed in a subsequent step by combining the road sign information and the lane change information, so as to improve accuracy of the road type change detection.

Step 102, determining the current lane of the target vehicle according to the current position of the target vehicle.

In the embodiment of the application, the lane where the target vehicle is currently located can be determined according to the high-precision map of the current position of the target vehicle corresponding to the current road.

And step 103, determining that the target vehicle generates the lane change intention when determining that the road type of the current road of the target vehicle at the current lane is changed according to the current road information.

In the embodiment of the application, if the road type of the current road where the target vehicle is located is changed at the current lane, the target vehicle is easy to cause that the target vehicle cannot continue to run continuously at the current lane, so that when the road type of the current road is determined to be changed at the current lane, the target vehicle is determined to generate the lane changing intention, and the target vehicle can realize autonomous lane changing when the road type is changed.

As a possible implementation manner, when the target vehicle starts navigation and determines the current road information of the target vehicle according to the current road information indicated in the current navigation information of the target vehicle, whether the road type of the current road of the target vehicle at the current lane is changed or not may be determined. For example, if the current navigation information of the target vehicle indicates that the current road in front of X meters is narrowed to the right, and the current lane of the target vehicle is the leftmost lane, it may be determined that the road type of the current road in the current lane is changed, and it may be determined that the target vehicle generates a lane changing intention, as shown in fig. 2, a is the target vehicle; if the current lane of the target vehicle is the rightmost lane, it can be determined that the road type of the current road in the current lane is unchanged, and the target vehicle does not generate the lane changing intention.

As a possible implementation manner, when navigation is not started in the target vehicle and the current road information of the target vehicle is determined according to the perception information of the target vehicle, whether the current road changes in the current lane can be determined according to the road sign information and/or the lane line information indicated by the perception information of the target vehicle. For example, the current road information includes road sign information, and the road sign content is that the lane is narrowed to the left side, as shown in fig. 3, if the target vehicle C is in the rightmost lane, it can be determined that the road type of the current road at the current lane is changed, that is, it can be determined that the target vehicle C can generate the lane changing intention; if the target vehicle C is not in the rightmost lane in fig. 3 (e.g., the vehicle D and the vehicle E in fig. 3), it can be determined that the road type of the current road at the current road is unchanged, i.e., the target vehicle C does not generate the lane change intention.

As an example, after lane change information in the current road is determined by the perception information of the target vehicle, it may be determined whether the road type of the current road at the current lane is changed according to whether the direction of the lane in the current road is changed. Specifically, whether the road type of the current road at the current lane is changed can be determined according to whether the lane line in front of the current lane is parallel to the lane lines at the two sides of the current lane. For example, as shown in fig. 2, the target vehicle a is located in the leftmost lane of the current road, and a lane line which is not parallel to the lane line of the leftmost lane exists between the current position of the target vehicle a and the front B point, so that it can be determined that the road type of the current road is changed at the current lane, and then it can be determined that the target vehicle a generates the lane change intention.

It should be noted that, when the lane change intention is obtained through the navigation information and the perception information at the same time, the lane change intention obtained through the perception information may be used as a criterion, that is, the priority of the perception information is higher than the priority of the navigation information, so as to ensure the accuracy of detecting the lane change intention.

Further, in order to enable the automatic driving vehicle to select a proper time to change the road when the road type is changed, the time when the target vehicle generates the lane changing intention can be determined according to the position of the road type change point. That is, in one possible implementation manner of the embodiment of the present application, the step 103 may include:

The road type change point may refer to a start point corresponding to a new road type after the road type change is completed. For example, the road type change point may be a point B shown in fig. 2, or may be a point F shown in fig. 3.

In the embodiment of the application, in order to enable the automatic driving vehicle to select a proper time to change the road when the road type changes, the road changing intention of the target vehicle can be determined when the distance between the current position of the target vehicle and the road type change point is determined to be the preset distance, so that the target vehicle is prevented from changing the road too early or too late when the road type is detected to change, and the practicability of the automatic driving is affected.

It should be noted that, during actual use, a specific value of the preset distance may be determined according to an actual requirement and a specific application scenario, which is not limited in the embodiment of the present application. For example, the preset distance may be 500 meters, so that it is determined that the target vehicle generates the lane-changing intention when the target vehicle is 500 meters from the lane-type change point.

And 104, determining a target lane for lane change according to the road type change direction corresponding to the current road and the current road information.

As a possible implementation manner, when navigation is started in the target vehicle, the road type change direction corresponding to the current road can be determined according to the prompt information in the navigation information. For example, the navigation information prompts that the current road is narrowed in the front direction, and then the road type change direction corresponding to the current road can be determined to be leftward.

As a possible implementation manner, when navigation is not started in the target vehicle, the road type change direction corresponding to the current road can be determined according to the road sign information determined by the perception information. For example, if a road sign indicating that the road is narrowed to the left is detected from the image data collected from the target vehicle, it is possible to determine that the road type change direction corresponding to the current road is to the right.

As a possible implementation manner, the road type change point in the current road can be determined according to the lane change information determined by the sensing information, and then the road type change direction corresponding to the current road can be determined according to the current position of the target vehicle and the position of the road type change point. For example, if the road type change point is located on the right side of the target vehicle, the road type change direction corresponding to the current road can be determined to be rightward; and if the road type change point is positioned at the left side of the target vehicle, determining that the road type change direction corresponding to the current road is left.

In the embodiment of the application, after the road type change direction of the current road is determined, other lanes in the current road, which are located in the road type change direction of the current lane of the target vehicle, can be determined according to the road type change direction of the current road and the current road information, and then any other lanes can be determined as the target lanes. For example, other lanes adjacent to the lane where the current is located may be determined as the target lane.

For example, if the road type change direction of the current road is rightward, any other lane located on the right side of the current lane of the target vehicle in the current road may be determined as the target lane. For example, a lane adjacent to the right of the lane where the target vehicle is currently located may be determined as the target lane.

Further, after the target lane is determined, whether the target lane meets the lane change condition can be detected, so that whether the target vehicle can be controlled to execute lane change at present is determined, and further, the running safety of the target vehicle in the lane change process is ensured. That is, in a possible implementation manner of the embodiment of the present application, after the step 104, the method may further include:

The preset duration detection time may refer to a duration of detecting whether the target lane continuously meets the lane change condition when the target lane does not meet the lane change condition. In actual use, a specific value of the preset duration detection time can be determined according to actual needs and specific application scenarios, which is not limited in the embodiment of the present application. For example, the preset duration detection time may be 5 seconds, 10 seconds, 15 seconds, and so on.

As a possible implementation manner, when the target lane is determined and it is detected that the target lane does not meet the lane change condition, it may be determined that the target vehicle is not suitable for lane change at present, so as not to generate danger. Therefore, the current speed of the target vehicle can be adjusted firstly so that the target vehicle meets the lane change condition, whether the target lane meets the lane change condition or not is detected in real time according to the adjusted current speed in the process of adjusting the current speed of the target vehicle, if the target lane still does not meet the lane change condition in the preset continuous detection time, the fact that the current road condition is not suitable for the target vehicle to change the lane can be determined, and therefore the obstacle avoidance lane change intention of the target vehicle can be canceled; if the target lane meets the lane change condition within the preset continuous detection time, the current road condition can be determined to be suitable for the target lane to change the lane, so that the subsequent steps in the embodiment of the application can be continuously executed to complete the obstacle avoidance lane change operation of the target vehicle.

As a possible implementation manner, whether the target lane can be used for lane change currently may be determined according to the collision time of the target vehicle with each other vehicle and each obstacle in the current road. That is, in one possible implementation manner of the embodiment of the present application, the current vehicle information may include a current position and a current speed of the target vehicle, the other vehicle information may include a current position and a current speed of the other vehicle, the current road information may further include obstacle information, and the obstacle information may include a current position of the obstacle; accordingly, whether the target lane satisfies the lane change condition may be determined by:

As a possible implementation manner, according to the current position of each other vehicle and the current position of each obstacle included in the current road information and the high-precision map corresponding to the current road, each first other vehicle and each first obstacle included in the target lane are determined, and then the driving track of the target vehicle is predicted according to the current speed and the current position of the target vehicle, and the driving track of each first other vehicle is predicted according to the current speed and the current position of each first other vehicle. Then, according to the predicted running track of the target vehicle and the predicted running track of each first other vehicle, the collision time between the target vehicle and each first other vehicle can be determined; and determining the collision time between the target vehicle and each first obstacle according to the predicted running track of the target vehicle and the current position of each first obstacle.

As a possible implementation manner, the lane change condition may include that the collision time between the target vehicle and each first other vehicle and each first obstacle is greater than a preset collision time threshold, so that when it is determined that the collision time between the target vehicle and each first other vehicle is greater than the preset collision time threshold and the collision time between the target vehicle and each first obstacle is greater than the preset collision time threshold, it is determined that the target lane meets the lane change condition; accordingly, if the collision time between the target vehicle and any one of the first vehicles is smaller than a preset collision time threshold, or if the collision time between the target vehicle and any one of the first obstacles is smaller than a preset collision time threshold, it may be determined that the target lane does not meet the lane change condition.

It should be noted that, during actual use, a specific value of the preset collision time threshold may be determined according to an actual requirement and a specific application scenario, which is not limited in the embodiment of the present application. For example, the preset collision time threshold may be 5 seconds.

And 105, when the target lane meets the lane change condition, determining a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information.

In the embodiment of the application, when the target lane is determined to meet the lane change condition, it may be determined that the target vehicle can be controlled to change lanes to the target lane at present, so that the lane can be changed to the lane which can pass through to the road after the road type is changed before the road type is changed.

As a possible implementation manner, in order to further improve the safety of the automatic driving vehicle in the lane changing process, so as to have the capability of using a complex urban traffic scene, the safety boundary of the target vehicle for lane changing can be determined according to the current vehicle information and the current road information of the target vehicle, so that the target vehicle can change lanes in the safety boundary, and the safety and reliability of the target vehicle in the lane changing process are ensured.

Further, the area, which does not contain other vehicles and obstacles, in the current road can be determined as an area where the target vehicle can safely travel, and then the safety boundary corresponding to the target vehicle is determined according to the area where the target vehicle can safely travel. In one possible implementation manner of the embodiment of the present application, the current road information may include information of a vehicle, information of an obstacle, and lane line information, the information of the vehicle may include a current position of the vehicle and a current speed of the vehicle, and the information of the obstacle may include a current position of the obstacle; accordingly, the step 105 may include:

As a possible implementation manner, first, each second vehicle and each second obstacle included in the current lane, the target lane, and each lane between the current lane and the target lane may be determined according to the current position of each vehicle and the current position of each obstacle included in the current road information, and a high-precision map corresponding to the current road. Then, the lane line of the target lane, which is far away from the target vehicle, may be determined as an initial safety boundary according to the lane line information of the target lane, and the lane line of the target vehicle, which is far away from the target lane, may be determined as another initial safety boundary; and then the two initial safety boundaries can be adjusted according to the current positions of each second vehicle and each second barrier contained in the area between the two initial safety boundaries, so that the second vehicles and the second barriers do not exist in the area between the two adjusted safety boundaries, and the two adjusted safety boundaries are determined to be the safety boundaries corresponding to the target vehicle.

If the second vehicle and the second obstacle do not exist in the area between the two initial safety boundaries, the two initial safety boundaries may be directly determined as the safety boundaries corresponding to the target vehicle.

For example, the current lane of the target vehicle is a left lane, the target lane is a left lane, and each second vehicle and each second obstacle included in the left lane and the left lane may be determined according to the current road information. Then, the left lane line of the left lane may be determined as one initial safety boundary, and the right lane line of the left lane may be determined as another initial safety boundary; if the second other vehicle and the second obstacle do not exist in the area between the two initial safety boundaries, the two initial safety boundaries can be determined to be the corresponding safety boundaries of the target vehicle; if the two initial safety boundaries are adjusted so that the second vehicle and the second obstacle do not exist in the area between the adjusted safety boundaries, and the adjusted safety boundaries are determined to be the safety boundaries corresponding to the target vehicles.

As an example, when the initial safety boundaries are adjusted, the positions of the initial safety boundaries may be adjusted according to the current position of the second vehicle or the second obstacle between the two initial safety boundaries to generate two parallel straight line safety boundaries.

As an example, when the initial safety boundary is adjusted, the initial safety boundary may be further bent according to the current position of the second vehicle or the second obstacle between the two initial safety boundaries, so that the bent safety boundary may bypass the corresponding second vehicle or the second obstacle, thereby generating two curved safety boundaries with higher flexibility.

Further, after the safety boundaries are determined, other vehicles in the road may cut into the areas between the safety boundaries corresponding to the target vehicles at any time, so that the safety boundaries can be updated in real time according to the running tracks cut into the vehicles, and the running safety of the target vehicles is further improved. That is, in a possible implementation manner of the embodiment of the present application, after the step 105, the method may further include:

The third vehicle may be a vehicle that enters a region between safety boundaries corresponding to the target vehicle.

In the embodiment of the present application, in order to prevent the target vehicle from flexibly avoiding a third vehicle that randomly cuts into the safety boundary in the lane changing process, the target vehicle may sense in real time whether the third vehicle and an obstacle exist in the safety boundary in the lane changing process, and determine the current position and the current speed of the third vehicle according to the sensing information of each sensing device in the target vehicle when the third vehicle is detected to exist in the safety boundary, predict the driving track of the third vehicle according to the current position and the current speed of the third vehicle, so as to generate a predicted driving track corresponding to the third vehicle, and further adjust the safety boundary corresponding to the target vehicle according to the predicted driving track corresponding to the third vehicle, so that the area between the adjusted safety boundaries does not include the predicted driving track corresponding to the third vehicle, and update the adjusted safety boundary to a new safety boundary corresponding to the target vehicle.

It should be noted that, the specific manner of adjusting the security boundary when updating the security boundary may be the same as the manner of adjusting the initial security boundary when establishing the security boundary, which is not described herein.

Step 106, controlling the target vehicle to change lane to the target lane within the safety boundary.

In this embodiment of the present application, after determining a safety boundary corresponding to a target vehicle, a corresponding turn signal in the target vehicle may be controlled to turn on according to a positional relationship between the target lane and a lane where the target vehicle is currently located, so as to remind surrounding other vehicles that the target vehicle is about to change lanes, and control a steering wheel of the target vehicle to turn, so as to control the target vehicle to change lanes to the target lane within the safety boundary.

Furthermore, in order to timely determine that the lane change of the target vehicle is finished and timely switch to the normal running state to control the target vehicle, whether the lane change of the target vehicle is finished or not can be detected in real time in the lane change executing process of the target vehicle. That is, in a possible implementation manner of the embodiment of the present application, after the step 105, the method may further include:

The offset of the target vehicle in the target lane may refer to a distance between a center line of the target vehicle and a center line of the target lane.

As a possible implementation manner, during the lane changing of the target vehicle, the positional relationship between the body of the target vehicle and the lane lines on both sides of the target lane may be detected in real time, and when it is determined that the body of the target vehicle does not coincide with the lane lines on both sides of the target lane and is located in the area between the lane lines on both sides of the target lane, it may be determined that the body of the target vehicle has completely entered the target lane. Further, whether the lane change of the target vehicle is completed can be determined according to the distances between the target vehicle and lane lines on both sides of the target lane, respectively.

As a possible implementation manner, since the vehicle body is generally parallel to the lane line of the lane where the vehicle is located and is located near the center of the lane when the vehicle is traveling normally in the lane, it is possible to determine the offset amount of the target vehicle in the target lane when it is detected that the vehicle body of the target vehicle completely enters the target lane and the vehicle body is parallel to the lane line of the target lane. It can be understood that if the offset of the target vehicle in the target lane is within the preset offset range, the current position of the target vehicle in the middle of the target lane or near the middle of the target lane can be determined, so that the lane change of the target vehicle can be determined to be completed; if the offset of the target vehicle in the target lane is not in the preset offset range, the current position of the target vehicle close to the edge of the target lane can be determined, so that steering wheel rotation angle of the target vehicle can be adjusted continuously until the offset of the target vehicle in the target lane is in the preset offset range.

As an example, in the case where there is a center lane line in the target lane, the distance between the longitudinal center line of the target vehicle and the center lane line of the target lane may be determined as the offset amount of the target vehicle in the target lane.

As an example, the offset amount of the target vehicle in the target lane may also be determined according to the distance between the left and right body edges of the target vehicle and the lane lines on both sides of the target lane, respectively. Specifically, the distance D1 between the left side body edge of the target vehicle and the left side lane line of the target lane and the distance D2 between the right side body edge of the target vehicle and the right side lane line of the target lane may be first determined, and then the absolute value of the difference between D1 and D2 may be determined as the offset amount of the target vehicle in the target lane.

The above-listed determination method of the offset amount of the target vehicle in the target lane is merely exemplary, and is not to be construed as limiting the present application. In actual use, a suitable offset determination mode and a preset offset range can be selected according to actual needs and specific application scenarios, and the embodiment of the application is not limited to this. For example, the preset offset range may be 0, so that the target vehicle may be determined to be completed when the target vehicle is in the middle of the target lane; for another example, the preset offset range may be [0,0.4] meters, so that when the target vehicle is at a position close to the middle of the target lane, it can be determined that the lane change of the target vehicle is completed, so as to ensure the lane change flexibility; for another example, the preset offset range may also be determined in real time according to the width of the target lane, e.g., [0,0.1X ] meters, where X is the width of the target lane.

According to the automatic driving lane changing method, when the road type of the current road of the target vehicle is determined to be changed at the current lane according to the current vehicle information and the current road information of the target vehicle, the target vehicle is determined to generate the lane changing intention, the target lane for lane changing is determined according to the road type changing direction corresponding to the current road and the current road information, and then when the target lane meets the lane changing condition, the safety boundary corresponding to the target vehicle is determined according to the current vehicle information and the current road information, and the target vehicle is controlled to change lanes to the target lane in the safety boundary. Therefore, the road type is changed automatically, so that the vehicle can change the road to the corresponding lane before reaching the road type change point, the running safety of the vehicle is ensured, the safety and the practicability of automatic driving are improved, and the user experience is improved.

In one possible implementation form of the method, in the process of controlling the target vehicle to change the lane, the steering wheel corner of the target vehicle can be controlled according to the real-time speed of the target vehicle, the type of the vehicle and the definition degree of the lane lines, so that unexpected lateral movement of the target vehicle is prevented, and the safety and reliability of the automatic driving vehicle in the lane changing process are further improved.

The lane change method for automatic driving according to the embodiment of the present application will be further described with reference to fig. 4.

Fig. 4 is a schematic flow chart of another lane-changing method for automatic driving according to an embodiment of the present application.

As shown in fig. 4, the lane changing method for automatic driving includes the following steps:

step 201, obtaining current vehicle information of a target vehicle and current road information of the target vehicle, wherein the current vehicle information comprises a current position of the target vehicle.

Step 202, determining the current lane of the target vehicle according to the current position of the target vehicle.

Step 203, determining that the target vehicle generates the lane change intention when determining that the road type of the current road of the target vehicle is changed at the current lane according to the current road information.

And 204, determining a target lane for lane change according to the road type change direction corresponding to the current road and the current road information.

And 205, determining a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information when the target lane meets the lane change condition.

The specific implementation and principles of the steps 201 to 205 may refer to the detailed description of the embodiments, which is not repeated here.

Step 206, determining the current steering wheel angle of the target vehicle in lane change according to the lane line confidence of the target lane, the current speed of the target vehicle and the vehicle type of the target vehicle.

The lane line confidence of the target lane can reflect the definition degree of the lane line of the target lane. The higher the lane line confidence of the target lane, the clearer the lane line of the target lane is. For example, when the lane lines on both sides of the target lane are clear, the confidence of the lane line of the target lane may be 1; when only one side lane line of the target lane is detected, the lane line confidence of the target lane may be 0.8; when the lane lines on both sides of the target lane are not clear, the lane line confidence of the target lane may be 0.5.

It should be noted that, the correspondence between the lane line confidence of the above-listed target lane and the lane line clarity of the target lane is merely exemplary, and is not to be construed as limiting the present application. In actual use, lane line confidence corresponding to lane lines with various degrees of definition can be determined according to actual needs and specific application scenes, and the embodiment of the application is not limited to the confidence.

The types of the target vehicles may include minibuses, trucks, buses, tank trucks, and the like, which are not limited in the embodiment of the present application.

The current steering wheel angle may be a steering wheel angle of the target vehicle at the current moment determined according to the current speed of the target vehicle, the type of the vehicle and the lane line confidence of the target lane. The current steering wheel angle of the target vehicle can be updated in real time according to the change of the real-time speed of the target vehicle.

In the embodiment of the application, when the speeds of the vehicles are different, even if the steering wheel angles of the vehicles are the same, the distances of the lateral movement of the vehicles are different; the lane line definition of the target lane can affect the reliability of the safety boundary corresponding to the target vehicle, for example, when the lane line of the target lane is unclear, the determined safety boundary corresponding to the target vehicle is easily oversized and exceeds the range of the target lane, so that the safety in the lane changing process is affected; moreover, since different types of vehicles generally have different body weights and weights, the inertial sizes of the different types of vehicles are different, and therefore, different lateral movement distances can be generated when the speed and steering wheel angles of the different types of vehicles are the same. Therefore, the embodiment of the application can comprehensively consider three parameters of the lane line confidence of the target lane, the current speed of the target vehicle and the vehicle type of the target vehicle, and determine the real-time steering wheel corner of the target vehicle in the lane changing process.

As one possible implementation, a constraint relationship between the current steering wheel angle and the current speed of the vehicle at each lane line confidence level may be determined for each type of vehicle. Furthermore, in the actual lane changing process, a corresponding constraint relation can be obtained according to the vehicle type of the target vehicle and the lane line confidence of the target lane, and then the current speed of the target vehicle is substituted into the corresponding constraint relation, so that the current steering wheel corner of the target vehicle in the lane changing process is determined, and when the current speed of the target vehicle or the lane line confidence of the target lane changes, the current steering wheel corner of the target vehicle in the lane changing process is updated in real time.

It will be appreciated that for the same type of vehicle, the current steering wheel angle of the vehicle may be inversely related to the current speed of the vehicle with the same lane line confidence; at the same current speed, a positive correlation may be made with the lane line confidence of the target lane. When the confidence of the lane lines is the same and the current speed of the vehicle is the same, for different types of vehicles, the current steering wheel angle of the vehicle can be in negative correlation with the body quantity of the vehicle; for example, the current steering wheel angle of the truck may be less than the current steering wheel angle of the car when the lane-line confidence is the same and the current speed of the vehicle is the same.

As an example, when the confidence of the lane line of the target vehicle, the vehicle type of which includes a car and a truck, the target lane includes 1, 0.8, 0.5, the relationship between the current steering wheel angle of the target vehicle and the current speed of the target vehicle is as follows:

in the case where the vehicle type of the target vehicle is a car, when the lane line confidence of the target lane is 1, the constraint relationship between the current steering wheel rotation angle θ of the target vehicle and the current speed V of the target vehicle may be: θ= -194.9012 ×inv+890.1633; when the lane line confidence of the target lane is 0.8, the constraint relation between the current steering wheel angle θ of the target vehicle and the current speed V of the target vehicle may be: θ= -170.4858 ×inv+771.0669; when the lane line confidence of the target lane is 0.5, the constraint relationship between the current steering wheel angle θ of the target vehicle and the current speed V of the target vehicle may be: θ= -157.4657 ×inv+704.4208.

In the case where the vehicle type of the target vehicle is a truck, when the lane line confidence of the target lane is 1, the constraint relationship between the current steering wheel angle θ of the target vehicle and the current speed V of the target vehicle may be: θ= -228.4555 ×inv+1044.1069; when the lane line confidence of the target lane is 0.8, the constraint relation between the current steering wheel angle θ of the target vehicle and the current speed V of the target vehicle may be: θ= -217.6552 × lnV +983.9248; when the lane line confidence of the target lane is 0.5, the constraint relationship between the current steering wheel angle θ of the target vehicle and the current speed V of the target vehicle may be: θ= -203.4666 ×inv+916.3233.

It should be noted that the above examples are only exemplary and should not be construed as limiting the present application. During actual use, the lane line confidence of the target lane, the current speed of the target vehicle and the constraint relation between the type of the vehicle and the current steering wheel angle of the target vehicle can be fitted according to actual needs and specific application scenes, and the embodiment of the application is not limited to the fitting.

Step 207, controlling the target vehicle to change lanes to the target lane within the safety boundary according to the current steering wheel angle.

In the embodiment of the application, after determining the current steering wheel angle of the target vehicle at the current moment, the steering wheel of the target vehicle can be controlled to steer according to the current steering wheel angle so as to control the target vehicle to change the lane to the target lane in the safety boundary. And in the course of changing the lane of the target vehicle, the change of the current speed of the target vehicle can be detected in real time, and the current steering wheel angle of the target vehicle is updated in real time according to the real-time current speed of the target vehicle until the lane change of the target vehicle is completed.

According to the automatic driving lane changing method, when the road type of the current road of the target vehicle at the current lane is determined to be changed according to the current vehicle information and the current road information of the target vehicle, the lane changing intention of the target vehicle is determined, the target lane for lane changing is determined according to the road type changing direction corresponding to the current road and the current road information, then when the target lane meets the lane changing condition, the safety boundary corresponding to the target vehicle is determined according to the current vehicle information and the current road information, and then the current steering wheel corner of the target vehicle during lane changing is determined according to the lane line confidence of the target lane, the current speed of the target vehicle and the vehicle type of the target vehicle, so that the target vehicle is controlled to change lanes to the target lane in the safety boundary according to the current steering wheel corner. Therefore, the automatic lane changing is carried out when the road type is changed, so that the vehicle changes lanes to corresponding lanes before reaching the road type change point, and the lane changing track of the vehicle is restrained by the constraint conditions of the safety boundary and the steering wheel corner in the automatic lane changing process, so that the safety and the practicability of automatic driving are improved, unexpected lateral movement can be prevented in the lane changing process, the safety and the reliability of the automatic driving vehicle in the lane changing process are further improved, and the user experience is improved.

In one possible implementation form of the present application, before the target vehicle is controlled to execute lane changing, lane changing execution waiting time may be further set, so as to detect whether the target lane still meets the lane changing condition and whether the obstacle avoidance lane changing intention still exists within the lane changing execution waiting time, so as to prevent an unexpected situation unsuitable for lane changing from occurring when lane changing is executed, or cancel the situation of the lane changing intention by the user, and further improve the safety and practicality of automatic driving.

The lane change method for automatic driving according to the embodiment of the present application will be further described with reference to fig. 5.

Fig. 5 shows a schematic flow chart of another lane-changing method for automatic driving according to an embodiment of the present application.

As shown in fig. 5, the lane changing method for automatic driving includes the following steps:

step 301, obtaining current vehicle information of a target vehicle and current road information of the target vehicle, wherein the current vehicle information comprises a current position of the target vehicle.

Step 302, determining a current lane of the target vehicle according to the current position of the target vehicle.

Step 303, determining that the target vehicle generates the lane change intention when determining that the road type of the current road of the target vehicle at the current lane is changed according to the current road information.

And step 304, determining a target lane for lane change according to the road type change direction corresponding to the current road and the current road information.

And 305, when the target lane meets the lane change condition, determining a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information.

The specific implementation process and principle of the above steps 301 to 305 may refer to the detailed description of the above embodiments, which is not repeated here.

And step 306, continuously detecting whether the target lane meets the lane change condition and whether the target vehicle has a lane change intention within the preset lane change execution waiting time.

The preset lane change execution waiting time may refer to a time from when the target lane is determined to meet the lane change condition and when the safety boundary is determined to when the lane change can be executed, or may refer to a time from when the target lane is determined to meet the lane change condition and when the safety boundary is determined to when the lane change is canceled.

It should be noted that, during actual use, a specific value of the preset lane change execution waiting time may be determined according to an actual need and a specific application scenario, which is not limited in the embodiment of the present application. For example, the preset lane change execution waiting time may be 1 second, 2 seconds, or the like.

In the embodiment of the application, after the target lane is determined to meet the lane changing condition and the corresponding safety boundary of the target vehicle is determined, the current road condition is likely to have an emergency, so that the target vehicle cannot safely change lanes; or the autonomous vehicle may allow the user to cancel the lane-changing intention generated autonomously by the vehicle to promote the degree of humanization of the autonomous vehicle. Therefore, the embodiment of the application can wait briefly before the target vehicle is controlled to execute lane changing, detect whether the target lane always meets the lane changing condition within the preset lane changing execution waiting time, and detect whether the target vehicle still has the obstacle avoidance lane changing intention, so as to eliminate the situation that the sudden dangerous condition of the current road condition is not suitable for lane changing or the user cancels the lane changing intention, and further improve the safety and the practicability of automatic driving.

As one possible implementation manner, when detecting whether the target vehicle has the obstacle avoidance lane change intention, the determination may be made by whether the user-input lane change cancellation intention instruction is acquired within the preset lane change execution waiting time. For example, if a lane change canceling intention instruction input by a user is acquired within a preset lane change execution waiting time, it can be determined that the target vehicle does not have an obstacle avoidance intention; if the instruction of canceling the lane change intention input by the user is not acquired within the preset lane change execution waiting time, the current obstacle avoidance lane change intention of the target vehicle can be determined.

It should be noted that, the specific manner of detecting whether the target lane meets the lane change condition may refer to the detailed description of the above embodiment, which is not repeated here.

Step 307, when the time interval between the current time and the time when the target lane is determined to meet the lane change condition reaches the preset lane change execution waiting time, if the target lane meets the lane change condition at the current time and the target vehicle has the lane change intention, the target vehicle is controlled to change lanes to the target lane within the safety boundary at the current time.

In the embodiment of the application, if the time interval between the current time and the time when the obstacle avoidance lane change intention is generated by the target vehicle reaches the preset lane change execution waiting time, the current time can be determined to be the ending time of the lane change standby, so that if the target lane is determined to meet the lane change condition at the current time and the obstacle avoidance lane change intention exists by the target vehicle, the target vehicle can be determined to change lanes at the current time, and the target vehicle can be controlled to change lanes to the target lane within the safety boundary.

It should be noted that, the specific implementation process and principle of controlling the target vehicle to change lane to the target lane within the safety boundary may refer to the detailed description of the above embodiments, which is not repeated herein.

And step 308, if the target lane does not meet the lane change condition at the current moment and the target vehicle has a lane change intention, adjusting the current speed of the target vehicle, and continuously detecting whether the target lane meets the lane change condition.

In the embodiment of the application, when determining that the current time is the ending time of the lane change standby, if it is determined that the target lane does not meet the lane change condition at the current time, but the obstacle avoidance lane change intention still exists in the target vehicle, the current speed of the target vehicle can be adjusted to expect that the target lane meets the lane change condition by adjusting the current speed of the target vehicle, and whether the target lane meets the lane change condition is continuously detected in the process of adjusting the current speed of the target vehicle until the target lane meets the lane change condition is detected, and the target vehicle can be directly controlled to change the lane to the target lane in the safety boundary; if the target lane still does not meet the lane change condition within the preset continuous detection time, the obstacle avoidance lane change intention can be canceled, and the lane change is canceled.

Step 309, if there is no lane change intention in the target vehicle at the current time, the lane change is canceled.

In the embodiment of the application, when the current time is determined to be the ending time of lane change standby, if it is determined that the target vehicle does not have the obstacle avoidance lane change intention at the current time, it can be determined that the user cancels the obstacle avoidance lane change intention, then the execution lane change can be directly canceled, and the target vehicle can drive according to the subjective intention of the user.

According to the automatic driving lane changing method, when the road type of the current road of the target vehicle changes at the current lane, the target vehicle is determined to generate the lane changing intention, the safety boundary of the target lane which is used for lane changing and meets the lane changing condition and corresponds to the target vehicle is determined according to the road type changing direction corresponding to the current road and the current road information, whether the target lane meets the lane changing condition or not and whether the target vehicle has the obstacle avoidance lane changing intention or not are continuously detected within the preset lane changing execution waiting time, and when the current moment is the ending moment of the lane changing standby, if the target lane meets the lane changing condition and the obstacle avoidance lane changing intention exists at the current moment, the target vehicle is controlled to change the lane to the target lane within the safety boundary, otherwise, the current speed of the target vehicle can be adjusted so that the target lane meets the lane changing condition or the lane changing execution is directly canceled. Therefore, the automatic lane changing is carried out when the lane type is changed, so that the vehicle changes lanes to corresponding lanes before reaching the lane type change point, the lane changing execution waiting time is set, whether the target lane still meets the lane changing condition and whether the obstacle avoidance lane changing intention still exists or not is detected in the lane changing execution waiting time, the sudden situation that the lane changing is unsuitable for the lane changing is prevented from occurring when the lane changing is executed, or the situation of the lane changing intention is canceled by a user, and therefore the safety of automatic driving is improved, the practicability and the flexibility of automatic driving are further improved, and the user experience is improved.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

Corresponding to the lane-changing method for autopilot described in the above embodiments, fig. 6 shows a block diagram of the lane-changing apparatus for autopilot provided in the embodiments of the present application, and for convenience of explanation, only the portions related to the embodiments of the present application are shown.

Referring to fig. 6, the apparatus 40 includes:

a first obtaining module 41, configured to obtain current vehicle information of a target vehicle and current road information where the target vehicle is located, where the current vehicle information includes a current position of the target vehicle;

a first determining module 42, configured to determine a lane where the target vehicle is currently located according to the current position of the target vehicle;

a second determining module 43, configured to determine that the target vehicle generates a lane change intention when it is determined that the road type of the current road of the target vehicle at the current lane is changed according to the current road information;

a third determining module 44, configured to determine a target lane for lane changing according to the road type change direction corresponding to the current road and the current road information;

A fourth determining module 45, configured to determine, when the target lane meets the lane change condition, a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information;

the lane change module 46 is used for controlling the target vehicle to change lanes to the target lane within the safety boundary.

In practical use, the lane changing device for automatic driving provided in the embodiment of the present application may be configured in any terminal device to execute the lane changing method for automatic driving.

According to the automatic driving lane changing device, when the road type of the current road where the target vehicle is located is determined to be changed according to the current vehicle information and the current road information of the target vehicle, the lane changing intention of the target vehicle is determined, the target lane for lane changing is determined according to the road type changing direction corresponding to the current road and the current road information, then when the target lane meets the lane changing condition, the safety boundary corresponding to the target vehicle is determined according to the current vehicle information and the current road information, and the target vehicle is controlled to change lanes to the target lane in the safety boundary. Therefore, the road type is changed automatically, so that the vehicle can change the road to the corresponding lane before reaching the road type change point, the running safety of the vehicle is ensured, the safety and the practicability of automatic driving are improved, and the user experience is improved.

In one possible implementation form of the present application, the second determining module includes:

Further, in another possible implementation manner of the present application, the first obtaining module 41 includes:

and/or the number of the groups of groups,

Further, in still another possible implementation form of the present application, the sensing device includes an image capturing device, and the sensing information includes image data captured by the image capturing device in the target vehicle; correspondingly, the third determining unit is specifically configured to:

And/or the number of the groups of groups,

Further, in still another possible implementation form of the present application, the current vehicle information further includes a current speed of the target vehicle, the current road information includes other vehicle information and barrier information, the other vehicle information includes a current position of the other vehicle and a current speed of the other vehicle, and the barrier information includes a current position of the barrier; correspondingly, the device 40 further comprises:

Further, in still another possible implementation form of the present application, the current road information includes other vehicle information, obstacle information, and lane line information, the other vehicle information includes a current position of the other vehicle and a current speed of the other vehicle, and the obstacle information includes a current position of the obstacle; correspondingly, the fourth determining module 45 includes:

Further, in another possible implementation form of the present application, the apparatus 40 further includes:

Further, in still another possible implementation form of the present application, the current vehicle information includes a current speed and a vehicle type of the target vehicle, the current road information includes lane line information, and the lane line information includes a confidence level of a lane line; correspondingly, the lane changing module 46 includes:

Further, in still another possible implementation form of the present application, the lane changing module 46 includes:

Further, in still another possible implementation form of the present application, the apparatus 40 further includes:

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.

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.

In order to implement the above embodiment, the present application further proposes a terminal device.

Fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

As shown in fig. 7, the terminal apparatus 200 includes:

the system comprises a memory 210 and at least one processor 220, a bus 230 connecting different components (including the memory 210 and the processor 220), wherein the memory 210 stores a computer program, and the processor 220 executes the program to implement the lane change method for autopilot according to the embodiments of the present application.

Bus 230 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Terminal device 200 typically includes a variety of electronic device readable media. Such media can be any available media that is accessible by terminal device 200 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 210 may also include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 240 and/or cache memory 250. Terminal device 200 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 260 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard disk drive"). Although not shown in fig. 7, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 230 via one or more data medium interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the present application.

Program/utility 280 having a set (at least one) of program modules 270 may be stored in, for example, memory 210, such program modules 270 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 270 generally perform the functions and/or methods in the embodiments described herein.

Terminal device 200 can also communicate with one or more external devices 290 (e.g., keyboard, pointing device, display 291, etc.), one or more devices that enable a user to interact with the terminal device 200, and/or any device (e.g., network card, modem, etc.) that enables the terminal device 200 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 292. Also, terminal device 200 can communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, via network adapter 293. As shown, network adapter 293 communicates with other modules of terminal device 200 over bus 230. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with terminal device 200, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processor 220 executes various functional applications and data processing by running programs stored in the memory 210.

It should be noted that, the implementation process and the technical principle of the terminal device in this embodiment refer to the foregoing explanation of the lane change method of automatic driving in this embodiment, and are not repeated herein.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps that may implement the various method embodiments described above.

The present embodiments provide a computer program product which, when run on a terminal device, causes the terminal device to perform steps that enable the respective method embodiments described above to be implemented.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow in the methods of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program may implement the steps of each method embodiment described above when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A lane-changing method for automatic driving, comprising:

acquiring current vehicle information of a target vehicle and current road information of the target vehicle, wherein the current vehicle information comprises the current position of the target vehicle;

Determining a current lane of the target vehicle according to the current position of the target vehicle;

determining that the target vehicle generates a lane changing intention when determining that the road type of the current road of the target vehicle changes at the current lane according to the current road information;

determining a target lane for lane changing according to the road type change direction corresponding to the current road and the current road information;

when the target lane meets a lane changing condition, determining a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information;

and controlling the target vehicle to change the lane to the target lane within the safety boundary.

2. The method of claim 1, wherein the determining that the target vehicle generates the lane-change intention when it is determined that a road type of a current road of the target vehicle at the current lane is changed based on the current road information comprises:

3. The method of claim 1, wherein the obtaining current vehicle information of the target vehicle and current road information on which the target vehicle is located comprises:

Acquiring current navigation information of the target vehicle;

determining the current vehicle information and the current road information according to the navigation information;

and/or the number of the groups of groups,

acquiring perception information acquired by perception equipment in the target vehicle;

4. The method of claim 1, wherein the current vehicle information further includes a current speed of the target vehicle, the current road information includes other vehicle information and obstacle information, the other vehicle information includes a current position of the other vehicle and a current speed of the other vehicle, the obstacle information includes a current position of an obstacle, and when the target lane meets a lane change condition, before determining a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information, the method further includes:

determining collision time between the target vehicle and each first obstacle according to the current speed and the current position of the target vehicle, the current speed and the current position of each first vehicle and the current position of each first obstacle;

And when the collision time between the target vehicle and each first other vehicle and each first obstacle meets the lane changing condition, determining that the target lane meets the lane changing condition.

5. The method of claim 1, wherein the current road information includes other vehicle information, obstacle information, and lane line information, the other vehicle information includes a current position of the other vehicle and a current speed of the other vehicle, the obstacle information includes a current position of the obstacle, and when the target lane satisfies a lane change condition, determining a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information includes:

determining each second vehicle and each second obstacle contained in the current lane, the target lane and each lane between the current lane and the target lane according to the current road information;

6. The method of claim 1, wherein after determining the safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information when the target lane satisfies a lane change condition, further comprising:

and updating the safety boundary according to the predicted running track corresponding to the third other vehicle.

7. The method of any of claims 1-6, wherein the current vehicle information includes a current speed of the target vehicle, a vehicle type, the current road information includes lane line information including a confidence level of a lane line, and the controlling the target vehicle to lane within the safety boundary includes:

determining a current steering wheel corner of the target vehicle when the target vehicle changes lanes according to the lane line confidence of the target lane, the current speed of the target vehicle and the vehicle type of the target vehicle;

And controlling the target vehicle to change the lane to the target lane in the safety boundary according to the current steering wheel angle.

8. An automatic lane-changing apparatus comprising:

the first acquisition module is used for acquiring current vehicle information of a target vehicle and current road information of the target vehicle, wherein the current vehicle information comprises the current position of the target vehicle;

the first determining module is used for determining a lane where the target vehicle is currently located according to the current position of the target vehicle;

the second determining module is used for determining that the target vehicle generates a lane changing intention when determining that the road type of the current road of the target vehicle at the current lane is changed according to the current road information;

the third determining module is used for determining a target lane for lane changing according to the road type change direction corresponding to the current road and the current road information;

a fourth determining module, configured to determine, when the target lane meets a lane change condition, a safety boundary corresponding to the target vehicle according to the current vehicle information and the current road information;

And the lane changing module is used for controlling the target vehicle to change lanes to the target lane in the safety boundary.

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the computer program.

10. A computer readable storage medium storing a computer program, which when executed by a processor implements the method according to any one of claims 1-7.