WO2024082701A1 - 换道方法、装置和智能驾驶设备 - Google Patents

换道方法、装置和智能驾驶设备 Download PDF

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Publication number
WO2024082701A1
WO2024082701A1 PCT/CN2023/103838 CN2023103838W WO2024082701A1 WO 2024082701 A1 WO2024082701 A1 WO 2024082701A1 CN 2023103838 W CN2023103838 W CN 2023103838W WO 2024082701 A1 WO2024082701 A1 WO 2024082701A1
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WIPO (PCT)
Prior art keywords
lane
driving device
change
lane changing
intelligent driving
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PCT/CN2023/103838
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English (en)
French (fr)
Inventor
陈安林
钱超杰
曾侠
王超冉
王新宇
黄卓然
Original Assignee
华为技术有限公司
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Publication of WO2024082701A1 publication Critical patent/WO2024082701A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles

Definitions

  • the present application relates to the field of intelligent driving, and more specifically, to a lane changing method, device and intelligent driving equipment.
  • the intelligent driving assisted lane change system usually requires users to confirm whether to change lanes, but it cannot meet the habits of different users, and there are problems such as a single confirmation method and poor fit with manual driving behavior.
  • the embodiments of the present application provide a lane changing method, device and intelligent driving equipment, which provide multiple lane changing modes, support users to select lane changing modes according to their habits, and help improve the user's driving experience.
  • a lane changing method is provided, which can be executed by an intelligent driving device; or, it can also be executed by an on-board terminal of the intelligent driving device, such as a car computer, or, it can also be executed by a chip or circuit used for the intelligent driving device, which is not limited in this application.
  • the intelligent driving equipment involved in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc.
  • the intelligent driving equipment may be a vehicle, which is a vehicle in a broad sense, and may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc.
  • the embodiment of this application does not specifically limit the type of vehicle.
  • the method includes: determining a first lane changing mode from a plurality of lane changing modes according to a first instruction, wherein a different lane changing method is provided to a user of an intelligent driving device in each of the plurality of lane changing modes; prompting a first lane changing task in the first lane changing mode; and controlling the intelligent driving device to change lanes or cancel lane changing according to the first lane changing task and a first lane changing method provided to the user in the first lane changing mode.
  • the first instruction may be generated according to a setting or selection of a user.
  • the plurality of lane change modes may include a confirmation required mode, a high-speed confirmation required mode, and a smart initiation mode.
  • the lane changing mode may include at least one of requiring user confirmation, automatic confirmation within a time limit, and not requiring user confirmation.
  • the user is supported to confirm or cancel the lane changing in multiple ways.
  • multiple lane changing modes are supported, and a lane changing mode used in driving can be determined from multiple lane changing modes according to the user's selection, which can meet the needs of users with different driving habits.
  • multiple ways to confirm or cancel lane changing are provided to the user, which reduces the probability of missing the lane changing opportunity due to untimely confirmation, helps reduce the possibility of users being distracted by lane changing operations, and thus improves driving safety.
  • the method also includes: determining the first lane changing mode according to the driving speed of the intelligent driving device; and controlling the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task and the first lane changing mode provided for the user, including: controlling the intelligent driving device to change lanes or cancel the lane changing in response to a first preset operation of the user according to the first lane changing task and the first lane changing mode.
  • the first lane changing mode when the first lane changing mode is a high-speed confirmation-required mode, the first lane changing mode can be determined according to the driving speed of the intelligent driving device.
  • the first preset operation when the driving speed is greater than or equal to a first preset speed threshold, includes at least one of toggling a lever and rotating a steering wheel; or when the driving speed is less than the first preset speed threshold, the first preset operation includes at least one of toggling a lever and rotating a steering wheel.
  • the first preset operation when the first preset operation is set to a value, includes at least one of moving the lever, rotating the steering wheel, pressing the steering wheel button, and no action within a first time length.
  • no action means that the user does not perform any operation. Furthermore, when the user does not perform any operation within the first time period, the intelligent driving device changes lanes according to the first lane changing task.
  • the first preset speed may be 60 km/h, or 65 km/h, or other values; the first duration may be 2 seconds, or 3 seconds, or other values.
  • the method provided to the user for determining or canceling lane change can be determined according to the driving speed of the intelligent driving device, which helps to improve the convenience of lane change and driving safety of the intelligent driving device.
  • the speed when the speed is low, it also supports canceling the lane change in response to the user's corresponding operation within a certain period of time, respecting the user's wishes and helping to improve the user's driving experience.
  • the method also includes: determining the first lane changing mode according to the driving speed and driving scenario of the intelligent driving device; controlling the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task and the first lane changing mode provided for the user, including: controlling the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task, the first lane changing mode and a first preset scenario; or controlling the intelligent driving device to change lanes or cancel the lane changing in response to a second preset operation of the user according to the first lane changing task and the first lane changing mode.
  • the first lane change mode when the first lane change mode is the smart initiation mode, the first lane change mode can be determined according to the driving speed and driving scene of the intelligent driving device.
  • the first preset scenario may include a driving scenario of merging from a ramp into a main road.
  • the method provided to the user for determining or canceling lane change can be determined according to the driving speed and driving scene of the intelligent driving device, which helps to improve the intelligence of the intelligent driving device, the convenience of lane change and driving safety.
  • the lane change operation can be performed without user confirmation, making the lane change process more human-like and helping to improve the user's driving experience.
  • the second preset operation when the driving speed is greater than or equal to a second preset speed threshold, includes at least one of moving a lever and rotating a steering wheel; or when the driving speed is less than the second preset speed threshold and the driving scene is a second preset scene, the second preset operation includes at least one of moving a lever, rotating a steering wheel, pressing a steering wheel button, and no action within a second time period.
  • the second preset scenario may include at least one of overtaking lane change, lane change according to navigation information, and emergency lane change.
  • emergency lane change may include lane change performed to avoid obstacles.
  • the second preset speed may be 60 km/h, or 65 km/h, or other values; the second duration may be 2 seconds, or 3 seconds, or other values.
  • the intelligent driving device when the driving scene indicates that the intelligent driving device needs to change lanes due to overtaking, navigation instructions and emergency situations, it can automatically change lanes within a certain period of time without user instructions, making the intelligent driving device more human-like and intelligent. At the same time, it also supports canceling lane changes in response to user operations within a certain period of time, respecting the user's wishes, and helping to improve the user's driving experience.
  • the first lane changing task instructs the intelligent driving device to change from the first lane to the second lane, and when the second preset operation is to move the lever in the first direction or rotate the steering wheel in the first direction, the intelligent driving device is controlled to change lanes or cancel the lane change, including: in response to the second preset operation, controlling the intelligent driving device to cancel the lane change; wherein the first direction is a direction opposite to the direction of changing from the first lane to the second lane.
  • the method further includes: prompting a second lane change task.
  • the lane changing task will be initiated again to reduce the probability of missing the intersection or ramp.
  • the first lane changing task instructs the intelligent driving device to change from the third lane to the fourth lane
  • the second preset operation is to move the lever in the second direction within the second time period, or to rotate the steering wheel in the second direction
  • the intelligent driving device is controlled to change lanes or cancel the lane change, including: in response to the second preset operation, controlling the intelligent driving device to change from the third lane to the fourth lane; wherein the second direction is the same direction as the direction of changing from the third lane to the fourth lane.
  • the method further includes: within a third time period, when it is detected that the intelligent driving device needs to change from the fourth lane to the fifth lane, controlling the intelligent driving device to change lanes.
  • the third duration may be 10 seconds, or 5 seconds, or other durations.
  • the fourth lane and the fifth lane may be adjacent lanes, or one or more lanes may be included between the fourth lane and the fifth lane.
  • the intelligent driving device When the first lane change task (the lane change task from the third lane to the fourth lane) is prompted, the intelligent driving device responds to the user's second preset operation within the second time period, and after the intelligent driving device completes the lane change, within the third time period, the intelligent driving device can automatically change from the fourth lane to the fifth lane.
  • the road change starting from the second time will not require user confirmation, making the lane change in this driving scenario more human-like and helping to improve the user experience.
  • the first lane changing task instructs the intelligent driving device to change from the sixth lane to the seventh lane, and in response to the operation of pressing the steering wheel button, controls the intelligent driving device to change from the sixth lane to the seventh lane.
  • the method also includes: within a fourth time period, when it is detected that the intelligent driving device needs to change from the seventh lane to the eighth lane, controlling the intelligent driving device to change lanes.
  • the fourth duration may be 20 seconds, or 30 seconds, or other durations.
  • the intelligent driving device when the intelligent driving device is low, after changing lanes in response to the user pressing the steering wheel button, if it is detected that another lane change is needed within a certain period of time, the lane change operation can be performed without user confirmation. This helps to improve the humanization of the intelligent driving device while ensuring driving safety, and helps to improve the user experience.
  • a lane changing device which includes a first determination unit, a prompt unit and a processing unit, wherein the first determination unit is used to: determine a first lane changing mode from multiple lane changing modes according to a first instruction, wherein each of the multiple lane changing modes provides a different lane changing method for a user of the intelligent driving device; the prompt unit is used to: prompt a first lane changing task in the first lane changing mode; and the processing unit is used to: control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task and the first lane changing method provided to the user in the first lane changing mode.
  • the device also includes a second determination unit, used to: determine the first lane changing method according to the driving speed of the intelligent driving device; the processing unit is used to: control the intelligent driving device to change lanes or cancel the lane changing in response to the user's first preset operation based on the first lane changing task and the first lane changing method.
  • the first preset operation when the driving speed is greater than or equal to a first preset speed threshold, includes at least one of moving a lever and rotating a steering wheel; or when the driving speed is less than the first preset speed threshold, the first preset operation includes at least one of moving a lever, rotating a steering wheel, pressing a steering wheel button, and no action within a first time period.
  • the device also includes a third determination unit, which is used to: determine the first lane changing method according to the driving speed and driving scene of the intelligent driving device; the processing unit is used to: control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task, the first lane changing method and the first preset scene; or control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task and the first lane changing method in response to the user's second preset operation.
  • a third determination unit which is used to: determine the first lane changing method according to the driving speed and driving scene of the intelligent driving device; the processing unit is used to: control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task, the first lane changing method and the first preset scene; or control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task and the first lane changing method in response to the user's second preset operation.
  • the second preset operation when the driving speed is greater than or equal to a second preset speed threshold, the second preset operation includes at least one of moving a lever and rotating a steering wheel; or when the driving speed is less than the second preset speed threshold and the driving scene is the second preset scene, the second preset operation includes at least one of moving a lever, rotating a steering wheel, pressing a steering wheel button, and no action within a second time period.
  • the first lane changing task instructs the intelligent driving device to change from the first lane to the second lane
  • the second preset operation is to move the lever in a first direction, or to rotate the steering wheel in the first direction
  • the processing unit is used to: in response to the second preset operation, control the intelligent driving device to cancel the lane change; wherein the first direction is a direction opposite to the direction of changing from the first lane to the second lane.
  • the prompting unit is further used to: prompt a second lane change task.
  • the first lane-changing task instructs the intelligent driving device to change from the third lane to the fourth lane
  • the second preset operation is to move the lever in the second direction within the second time period, or to rotate the direction in the second direction.
  • the processing unit is used to: in response to the second preset operation, control the intelligent driving device to change from the third lane to the fourth lane; wherein the second direction is the same direction as the direction of changing from the third lane to the fourth lane.
  • the processing unit is further used to: within the third time period, when it is detected that the intelligent driving device needs to change from the fourth lane to the fifth lane, control the intelligent driving device to change lanes.
  • the first lane changing task instructs the intelligent driving device to change from the sixth lane to the seventh lane
  • the processing unit controls the intelligent driving device to change from the sixth lane to the seventh lane.
  • the processing unit is also used to: within a fourth time period, when it is detected that the intelligent driving device needs to change from the seventh lane to the eighth lane, control the intelligent driving device to change lanes.
  • a lane changing device comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device performs a method as in any possible implementation of the first aspect.
  • an intelligent driving device which includes an apparatus as in any possible implementation of the second aspect or the third aspect.
  • the intelligent driving device is a vehicle.
  • a computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in any possible implementation of the first aspect.
  • the above-mentioned computer program code may be stored in whole or in part on a first storage medium, wherein the first storage medium may be packaged together with the processor or may be packaged separately from the processor.
  • a computer-readable medium stores instructions, and when the instructions are executed by a processor, the processor implements the method in any possible implementation manner of the first aspect.
  • a chip comprising a circuit, the circuit being used to execute the method in any possible implementation manner of the first aspect above.
  • FIG1 is a functional block diagram of an intelligent driving device provided in an embodiment of the present application.
  • FIG2 is a functional block diagram of a system architecture required for implementing a lane changing method provided in an embodiment of the present application
  • FIG3 is a schematic flow chart of a lane changing method provided in an embodiment of the present application.
  • FIG4 is a set of GUIs provided in an embodiment of the present application.
  • FIG5 is another set of GUIs provided in an embodiment of the present application.
  • FIG6 is another set of GUIs provided in an embodiment of the present application.
  • FIG7 is a schematic diagram of a driving scenario provided in an embodiment of the present application.
  • FIG8 is another set of GUIs provided in an embodiment of the present application.
  • FIG9 is another set of GUIs provided in an embodiment of the present application.
  • FIG10 is a schematic block diagram of a lane changing device provided in an embodiment of the present application.
  • FIG. 11 is another schematic block diagram of a lane changing device provided in an embodiment of the present application.
  • At least one of a, b, or c can mean: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple.
  • prefixes such as "first" and “second” used in the embodiments of the present application are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects.
  • the use of prefixes such as ordinal numbers used to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.
  • the implementation of the lane-changing assisted function is usually as follows: after the intelligent driving system generates a lane-changing task, The user confirms whether to change lanes, and the methods of confirming whether to change lanes are mainly button control, lever control, voice control, etc. In addition, generally, after the user confirms not to change lanes, the intelligent driving system will no longer initiate the lane change task.
  • the method of confirming whether to change lanes is relatively simple, so that users may not be able to confirm whether to change lanes in time, and it cannot meet the diverse driving scenarios and human-like confirmation needs. For example, when the user's one-handed hand is not convenient to operate the lever or button, it may not be possible to confirm or cancel the lane change task in time. Second, after the user confirms that he does not want to change lanes, the intelligent driving system will no longer initiate the lane change task, which may easily miss the intersection or ramp, and is not human-like enough.
  • the present application provides a lane changing method, device and intelligent driving device, which support multiple lane changing modes, can confirm a lane changing mode from multiple lane changing modes according to the user's settings, and can meet the needs of users with different driving habits.
  • the lane changing mode can be confirmed in combination with the driving scene and/or driving speed, which can meet the needs of various driving scenes, reduce the probability of missing the lane changing opportunity due to untimely confirmation, and help improve driving safety.
  • the "lane change task" involved in the embodiments of the present application may be information generated by the intelligent driving device based on its surrounding environment information and/or navigation information suggesting a lane change, or information notifying an upcoming lane change.
  • the information suggesting a lane change requires user confirmation before the intelligent driving device changes lanes or cancels the lane change; the information notifying an upcoming lane change does not require user confirmation, and the intelligent driving device will change lanes, or allow the user to cancel the upcoming lane change within a certain period of time.
  • FIG1 is a functional block diagram of an intelligent driving device 100 provided in an embodiment of the present application.
  • the intelligent driving device 100 may include a perception system 120, a display device 130, and a computing platform 150, wherein the perception system 120 may include one or more sensors for sensing information about the environment around the intelligent driving device 100.
  • the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a Beidou system or other positioning systems, or an inertial measurement unit (IMU).
  • GPS global positioning system
  • IMU inertial measurement unit
  • the perception system 120 may also include one or more of a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera device.
  • the intelligent driving device 100 may also include a sound device, such as a speaker, for outputting audio to a user of the intelligent driving device 100.
  • the intelligent driving device 100 may also perform voice interaction with the user through other external devices, such as a Bluetooth headset, etc., which is not specifically limited in the embodiment of the present application.
  • the display device 130 in the cockpit is mainly divided into two categories, the first category is the vehicle display screen; the second category is the projection display screen, such as a head-up display (HUD).
  • the vehicle display screen is a physical display screen and an important part of the vehicle infotainment system.
  • Multiple display screens can be set in the cockpit, such as a digital instrument display screen (hereinafter referred to as the instrument screen), a central control screen, a display screen in front of the passenger on the co-pilot seat (also called the front passenger), a display screen in front of the left rear passenger, and a display screen in front of the right rear passenger. Even the window can be used as a display screen for display.
  • one or more of the above-mentioned vehicle display screens can be a human-machine interface (HMI), for example, the central control screen can be an HMI.
  • HMI human-machine interface
  • Head-up display also known as a head-up display system. It is mainly used to display driving information such as speed and navigation on a display device in front of the user (such as a windshield). To reduce the user's line of sight transfer time, avoid pupil changes caused by the user's line of sight transfer, and improve driving safety and comfort.
  • HUD includes, for example, a combiner-HUD (C-HUD) system, a windshield-HUD (W-HUD) system, and an augmented reality HUD (AR-HUD) system.
  • C-HUD combiner-HUD
  • W-HUD windshield-HUD
  • AR-HUD augmented reality HUD
  • the computing platform 150 may include one or more processors, such as processors 151 to 15n (n is a positive integer).
  • the processor is a circuit with the ability to process instructions.
  • the processor may be a circuit with the ability to read and run instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA).
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units.
  • it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.
  • the computing platform 150 can also include a memory, the memory is used to store instructions, and some or all of the processors 151 to 15n can call the instructions in the memory. Execute instructions to achieve corresponding functions.
  • the intelligent driving device 100 may include an advanced driving assistant system (ADAS).
  • ADAS utilizes a variety of sensors on the intelligent driving device (including but not limited to: lidar, millimeter wave radar, camera device, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the intelligent driving device, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, intelligent driving device positioning, path planning, user monitoring/reminder, etc., thereby improving the safety, automation and comfort of driving the intelligent driving device.
  • sensors on the intelligent driving device including but not limited to: lidar, millimeter wave radar, camera device, ultrasonic sensor, global positioning system, inertial measurement unit
  • ADAS systems generally include three main functional modules: perception module, decision module and execution module.
  • the perception module perceives the environment around the vehicle body through sensors and inputs corresponding real-time data to the decision-making layer processing center.
  • the perception module mainly includes on-board cameras/ultrasonic radars/millimeter-wave radars/lidar, etc.; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision instructions from the decision module, such as driving, changing lanes, steering, braking, and warnings.
  • ADAS can achieve different levels of autonomous driving assistance based on artificial intelligence algorithms and information obtained by multiple sensors.
  • the above autonomous driving levels (L0-L5) are based on the classification standards of the Society of Automotive Engineers (SAE). Among them, L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is highly automated; L5 is fully automated. The tasks of monitoring road conditions and responding to L1 to L3 are completed by the user and the system, and the user is required to take over the dynamic driving task. L4 and L5 allow users to completely transform into the role of passengers.
  • SAE Society of Automotive Engineers
  • ADAS can achieve mainly include but are not limited to: adaptive cruise, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning/braking, rear intersection traffic warning/braking, front vehicle collision warning, lane departure warning, lane keeping assist, rear vehicle collision avoidance warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc.
  • L0-L5 autonomous driving levels
  • FIG2 shows a schematic block diagram of a system architecture required for implementing a lane changing method provided in an embodiment of the present application.
  • the system includes a perception module, a lane changing mode selection and lane changing mode design module, a human-computer interaction module, a planning control module, and an actuator.
  • the perception module may include one or more camera devices in the perception system 120 shown in FIG1 , or one or more radar sensors, for collecting the surrounding environment information of the intelligent driving device, the real-time motion parameters of the intelligent driving device (such as the driving speed), etc.
  • the perception module can also process the collected surrounding environment information to establish a world model consisting of roads, obstacles, etc.
  • the lane changing mode selection and lane changing mode design module can be one or more processors in the computing platform 150 shown in FIG1 , for confirming the lane changing mode in response to the user's setting, and designing the lane changing mode (i.e., the way to confirm whether to change lanes) according to the driving speed and/or surrounding environment of the intelligent driving device in the lane changing mode, including the way to prompt the lane changing task, the length of time to wait for the user's response, etc.
  • the lane change mode may include a mode that always requires confirmation, a mode that requires confirmation at high speed (for example, when the driving speed exceeds a preset speed threshold, the user needs to confirm whether to change lanes), and an intelligent initiation mode (confirming whether the user needs to confirm whether to change lanes according to the driving scene); the lane change mode may include automatic confirmation within a limited time, no user confirmation required, user confirmation required, etc.
  • the human-computer interaction module may include one or more of the display devices 130 shown in FIG. 1 , such as an HMI, or may also include one or more of a steering wheel system, a lever system, and a button system.
  • the human-computer interaction module may notify the user of the lane change task, and confirm whether to change lanes in response to the user's operation.
  • the planning control module is used to plan a motion trajectory according to the result output by the human-computer interaction module (for example, confirming lane change), calculate the corresponding control amount according to the planned motion trajectory, and output the above control amount to the actuator.
  • the planning control module may also plan the motion trajectory according to the result output by the lane change mode selection and lane change mode design module (for example, confirming lane change), calculate the corresponding control amount according to the planned motion trajectory, and output the above control amount to the actuator.
  • the actuator executes the control amount, the intelligent driving device is controlled to travel according to the planned motion trajectory.
  • the actuator may also include a steering and braking control system in the intelligent driving device 100 .
  • the above modules are only examples, and in actual applications, the above modules may be added or deleted according to actual needs.
  • the lane change mode selection and lane change mode design module and the planning control module can be combined into one module.
  • FIG3 shows a schematic flow chart of a lane changing method 300 provided in an embodiment of the present application.
  • the method can be applied to the intelligent driving device shown in FIG1 , or the method can be executed by the system shown in FIG2 .
  • the following takes the method executed by the computing platform of the vehicle as an example for explanation, and the method 300 may include:
  • the plurality of lane change modes may include an always-confirmation-required mode, a high-speed confirmation-required mode, and a smart-initiate mode.
  • the first instruction may be an instruction generated in response to the user's input to the HMI (or central control screen) of the vehicle. For example, as shown in FIG. 4 , the user is prompted to select a lane change mode through the HMI.
  • the touch sensor detects click signals at "smart initiation mode" and “confirmation” on the HMI, an instruction to confirm the use of the smart initiation mode is generated based on the click signal.
  • the first instruction may be an instruction generated for the operation of a physical component of the vehicle, which may be a button on a steering wheel or a lever; when the pressure sensor of the vehicle collects a pressure signal, the processing device of the vehicle (such as a processor) may process the pressure signal and perform corresponding control, and the first instruction may be an instruction generated by the processing device according to the pressure signal to switch the lane change mode or confirm the lane change mode.
  • a physical component of the vehicle which may be a button on a steering wheel or a lever
  • the processing device of the vehicle such as a processor
  • the first instruction may be an instruction generated by the processing device according to the pressure signal to switch the lane change mode or confirm the lane change mode.
  • the first instruction may also be a voice instruction of the user.
  • the computing platform may obtain the audio of the voice instruction through a sound sensor (or a receiving device), and parse the voice semantics of "please turn on the first lane change mode" or "please switch to the first lane change mode” through a processing device.
  • the first instruction may be the voice instruction.
  • the user may be prompted to select a lane change mode through at least one of a speaker, a HUD, and an HMI. For example, as shown in 401 in FIG4 , “Please select a lane change mode” is displayed through the HUD; or as shown in 402 in FIG4 , “Please select a lane change mode” is announced through the speaker.
  • the user if the user does not select a lane change mode, it can be determined that the lane change mode used in the last trip is the first lane change mode; or, it can be determined that the system default lane change mode is the first lane change mode; or, it can be determined that the lane change mode frequently used by the user is the first lane change mode based on the user's identity information.
  • the lane changing mode may include but is not limited to: requiring user confirmation, not requiring user confirmation, and automatic confirmation within a limited time.
  • the mode requiring user confirmation the user is supported to confirm or cancel the lane changing through a lever, a button, a steering wheel, and a voice command.
  • the user's confirmation is always required before the lane-changing is performed or canceled.
  • whether the user needs to confirm or cancel the lane change is determined based on the driving speed; for example, when the driving speed is greater than or equal to the first preset speed threshold, after the lane change task is prompted, the lane change is required to be confirmed by the user; when the driving speed is less than the first preset speed threshold, after the lane change task is prompted, the lane change is automatically confirmed after a first preset time period. If a user's cancellation command is detected within the first preset time period, the lane change is canceled.
  • whether the user needs to confirm or cancel the lane change is determined according to the driving scenario; for example, when the driving speed is greater than or equal to the second preset speed threshold and is in a lane merging scenario, after the lane change task is prompted, the lane change is required to be confirmed by the user; when the driving speed is less than the second preset speed threshold and is in a lane merging scenario, after the lane change task is prompted, the lane change is directly performed or canceled without user confirmation; when the driving speed is less than the third preset speed threshold and is in an overtaking scenario, after the lane change task is prompted, the lane change is automatically confirmed after the second preset time period. If the user's cancellation command is detected within the second preset time period, the lane change is canceled.
  • the correspondence between the lane changing mode and the lane changing method may be user-defined, or may be factory-set.
  • “prompting the first lane change task” may include controlling a display device and/or a sound device to prompt the first lane change task.
  • a display device For example, at least one of a speaker, a HUD, and an HMI may be controlled to prompt the user of the first lane change task.
  • the first lane-changing task may be the lane-changing task in the above embodiment, and may include information suggesting a lane-changing, or information notifying an upcoming lane-changing. For example, information suggesting a lane-changing from the first lane to the second lane, or information notifying an upcoming lane-changing from the first lane to the second lane.
  • the first lane is the current lane of the vehicle
  • the second lane is the target lane.
  • the first lane change task may be determined by the vehicle based on at least one of its surrounding environment information (e.g., distance information between surrounding obstacles and the vehicle, lane line information, etc.), road information, and navigation information. For example, when the vehicle's navigation information prompts that it is necessary to turn right at the intersection ahead, but the vehicle is not currently in the right-turn lane, a first lane change task may be generated and prompted, and the first lane change task indicates a change to the right-turn lane.
  • the first lane change task may also be obtained by the vehicle from a server, or may also be generated or obtained in other ways.
  • S303 Control the intelligent driving device to change lanes or cancel the lane change according to the first lane changing task and the first lane changing method provided for the user in the first lane changing mode.
  • the intelligent The driving device changes lanes or cancels lane changes. For example, when the touch sensor detects click signals at "confirm lane change” and "cancel lane change” on the HMI, the intelligent driving device is controlled to change lanes or cancel lane changes according to the click signals.
  • the intelligent driving device may be controlled to change lanes or cancel lane changes in response to operations on a physical component of the vehicle.
  • the physical component may be a steering wheel, or a button on the steering wheel, or a lever; when the torque sensor of the vehicle collects a torque signal, the processing device of the vehicle (such as a processor) may process the torque signal and perform corresponding control.
  • the processing device of the vehicle such as a processor may process the pressure signal and perform corresponding control.
  • the intelligent driving device may be controlled to change lanes or cancel lane changes in response to the user's voice command.
  • the computing platform may obtain the audio of the voice command through a sound sensor (or a sound receiving device), parse the voice semantics of "confirm lane change” or "cancel lane change” through a processing device, and control the intelligent driving device to change lanes or cancel lane changes according to the voice command.
  • the intelligent driving device can be controlled to change lanes or cancel lane changes according to instructions generated by the user's behavior. For example, if no user operation is detected within the first preset time after the prompt of the first lane-changing task, the intelligent driving device is controlled to change lanes; or, if the user's operation to cancel the lane change is detected within the first preset time after the prompt of the first lane-changing task, the lane change is canceled.
  • the intelligent driving device can be controlled to change lanes according to the driving scene. For example, when the driving speed is less than the second preset speed threshold and is in a lane merging scene, when the surrounding environment meets the lane-changing condition, the intelligent driving device is controlled to change lanes; or, when the driving speed is less than the second preset speed threshold and is in a lane merging scene, when the surrounding environment does not meet the lane-changing condition, the lane-changing is controlled to be cancelled.
  • the above lane-changing condition may include: the distance between the road participants in other lanes behind the vehicle and the vehicle is greater than or equal to the first preset distance, and the distance between the road participants or obstacles in other lanes in front of the vehicle and the vehicle is greater than or equal to the second preset distance.
  • other lanes are lanes different from the lanes in which the vehicle is located.
  • the lane-changing scene needs to comply with road traffic regulations.
  • the vehicle wants to overtake, if it is detected that the current driving section or the section to be entered is at least one of a railway crossing, an intersection, a narrow bridge, a curve, a steep slope, a tunnel, a crosswalk, and a section with heavy traffic in the urban area, it is considered that the lane-changing condition is not met.
  • the lane changing method provided in the embodiment of the present application supports multiple lane changing modes, and can confirm a lane changing mode used in driving from multiple lane changing modes according to the user's selection, which can meet the needs of users with different driving habits.
  • multiple lane changing modes are provided for users to choose from, which reduces the probability of missing the lane changing opportunity due to untimely confirmation, helps to reduce the possibility of users being distracted by lane changing operations, and thus improves driving safety.
  • the following takes the intelligent driving device as an example of a vehicle, and combines Table 1 and the display changes of the vehicle's on-board display screen during the lane changing process shown in Figures 5 to 9 to explain in detail the several lane changing modes provided by the above lane changing method 300 and the lane changing methods provided to the user corresponding to the lane changing modes.
  • the user in the confirmation-always-required mode, after detecting that the vehicle needs to change lanes and prompting the lane change task, the user is required to confirm or cancel the lane change through the lever, regardless of the vehicle's driving speed and the driving scenario.
  • the direction of the lever is the same as the vehicle's lane change direction, the lane change is confirmed; when the direction of the lever is opposite to the vehicle's lane change direction, the lane change is canceled.
  • the vehicle cancels the prompt message within a third preset time length can be 20 seconds, or 10 seconds, or other time lengths.
  • the first lane change mode is the high-speed confirmation-required mode
  • the first lane change mode is determined according to the driving speed of the vehicle, and according to the first lane change task and the first lane change mode, the vehicle is controlled to change lanes or cancel lane change in response to the first preset operation of the user.
  • the first preset operation may include at least one of toggling a lever and rotating a steering wheel; or the first preset operation may include at least one of toggling a lever, rotating a steering wheel, pressing a steering wheel button, and no action within a first time period.
  • the first lane change mode is determined to be a time-limited automatic confirmation. Further, after detecting that the vehicle needs to change lanes and prompting the first lane change task, if the user does not take any action within a first time period (such as the first preset time period in the above embodiment), the vehicle automatically changes to the target driving lane; if it is detected that the user performs an operation of toggling the lever or twisting the steering wheel in the same direction as the vehicle's lane change within the first time period, the vehicle is controlled to change to the target driving lane immediately; if it is detected that the user performs an operation of toggling the lever or twisting the steering wheel in the opposite direction of the vehicle's lane change within the first time period, the vehicle is controlled to cancel the lane change.
  • a preset speed threshold such as the first preset speed threshold in the above embodiment
  • the first lane-changing method when the vehicle speed is greater than or equal to a preset speed threshold, the first lane-changing method is determined to be required. Furthermore, after detecting that the vehicle needs to change lanes and prompting the first lane change task, if it is detected that the user performs an operation of toggling the lever in the same direction as the vehicle's lane change, the vehicle is controlled to change to the target driving lane immediately; if it is detected that the user performs an operation of toggling the lever in the opposite direction of the vehicle's lane change, the vehicle is controlled to cancel the lane change.
  • the preset speed threshold may be 60 km/h, or 65 km/h, or other values; the first duration may be 2 seconds, or 3 seconds, or other values.
  • the first lane change method is determined according to the driving speed and driving scene of the vehicle, and the vehicle is controlled to change lanes or cancel lane changes according to the first lane change task, the first lane change method and the first preset scene; or according to the first lane change task and the first lane change method, in response to the second preset operation of the user, the vehicle is controlled to change lanes or cancel lane changes.
  • the second preset operation may include at least one of toggling a lever and rotating a steering wheel; or the second preset operation may include at least one of toggling a lever, rotating a steering wheel, pressing a steering wheel button, and no action within a second time period.
  • the first lane change mode is determined to be one that does not require user confirmation. Further, after detecting that the vehicle needs to change lanes and prompting the first lane change task, when the vehicle determines that the driving scenario is merging from a ramp into a main road (i.e., the first preset scenario), it automatically changes to the target driving lane when the surrounding environment meets the lane change conditions.
  • the driving scenario is at least one of navigation lane change, overtaking lane change, and emergency lane change
  • the first lane change mode is determined to be time-limited automatic confirmation.
  • the vehicle automatically changes to the target driving lane; if it is detected that the user performs an operation of toggling the lever or twisting the steering wheel in the same direction as the vehicle's lane change within the second time period, the vehicle is controlled to change to the target driving lane immediately; if it is detected that the user performs an operation of toggling the lever or twisting the steering wheel in the opposite direction of the vehicle's lane change within the second time period, the vehicle is controlled to cancel the lane change.
  • vigation lane change refers to changing lanes according to navigation information. For example, if the vehicle needs to turn right at the intersection ahead, but the lane the vehicle is currently in is not a right-turn lane, it needs to change to the right-turn lane according to the navigation information.
  • the first lane-changing task instructs the vehicle to change from the third lane to the fourth lane
  • the second preset operation is to toggle the lever in the same direction as the lane-changing direction within the second time period, or to rotate the steering wheel
  • the vehicle responds to the second preset operation and changes from the third lane to the fourth lane.
  • the vehicle can automatically change from the fourth lane to the fifth lane when the lane-changing conditions are met.
  • the need for the vehicle to change from the fourth lane to the fifth lane can be determined based on navigation information
  • the third time period can be 5 seconds, or 8 seconds, or other time periods.
  • the first lane change mode is determined to require user confirmation. Further, after detecting that the vehicle needs to change lanes and prompting the first lane change task, if it is detected that the user performs an operation of toggling the lever in the same direction as the vehicle's lane change, the vehicle is controlled to immediately change to the target driving lane; if it is detected that the user performs an operation of toggling the lever in the opposite direction of the vehicle's lane change, the vehicle is controlled to cancel the lane change.
  • the preset speed threshold may be 60 km/h, or 65 km/h, or other values; the second time duration may be 2 seconds, or 3 seconds, or other values.
  • the user when the driving speed is lower than a preset speed threshold, the user can also confirm the lane change by pressing a confirmation button on the steering wheel (e.g., an "OK” button, an "Enter” button, etc.).
  • a confirmation button on the steering wheel
  • the vehicle in response to the user pressing the confirmation button, the vehicle is controlled to change to the target driving lane.
  • the fifth preset time can be 20 seconds, or 30 seconds, or other time lengths.
  • a virtual button of "Confirm Lane Change” or “Cancel Lane Change” may also be provided to the user through the HMI.
  • the vehicle is controlled to change to the target driving lane, or the lane change is canceled.
  • FIG5 shows a schematic diagram of a set of graphical user interfaces (GUIs) displayed on a vehicle display screen during a lane change in the always-required confirmation mode.
  • the vehicle's instrument screen includes display areas 501, 502, and 503, wherein the vehicle's navigation information (e.g., prompting the user to turn right 2 kilometers ahead and the estimated driving time) can be displayed in display area 501.
  • Display area 502 can display a virtual scene generated by data collected by sensors, which includes the vehicle and the surrounding environmental information of the vehicle (e.g., information of other vehicles, lane line information, etc.). The virtual scene can assist the user in changing lanes.
  • Display area 503 can display the vehicle's current speed (e.g., 64 km/h), gear information (e.g., the vehicle is currently in gear D), road speed limit value (e.g., 100 km/h), road minimum driving speed (e.g., 50 km/h), remaining power (e.g., 80%), and cruising range (e.g., 460 km), etc.
  • vehicle's current speed e.g., 64 km/h
  • gear information e.g., the vehicle is currently in gear D
  • road speed limit value e.g., 100 km/h
  • road minimum driving speed e.g., 50 km/h
  • remaining power e.g., 80%
  • cruising range e.g., 460 km
  • the display area 502 shown in FIG. 5 is illustrated by taking a two-dimensional (2D) virtual scene as an example, and the embodiments of the present application are not limited thereto.
  • a three-dimensional (3D) virtual scene may also be displayed in the display area 502, or other virtual scenes may also be displayed.
  • the vehicle is currently in the always-confirmation mode and is located in lane 1.
  • the lane change task and/or the method for confirming or canceling the lane change are prompted.
  • the lane change task can be prompted through a speaker or a display screen, such as broadcasting the lane change task through a speaker: "Please change to lane 2", or prompting "Please change to lane 2" through a display screen (such as an HMI or HUD).
  • the lane change task and the method for confirming or canceling the lane change can be broadcast through a speaker, such as the content shown in 510 "Please push the lever down to confirm the change to lane 2, or push the lever up to cancel the lane change"; or, the lane change task and the method for confirming or canceling the lane change can also be prompted through the content shown in 520 of the HUD display; or, the above lane change task and lane change content can also be prompted through the instrument screen.
  • the vehicle is controlled to change to lane 2 in response to the user's operation; if the user pushes the lever upward (opposite to the lane change direction), the lane change is canceled in response to the user's operation.
  • FIG6 shows a schematic diagram of a set of GUIs displayed on the vehicle display screen when the vehicle is in a high-speed confirmation mode, the driving speed is less than a preset speed threshold (the preset speed threshold is 60 kilometers per hour as an example in the embodiment of the present application), and the vehicle needs to change from lane 1 to lane 2.
  • the lane change task shown in 601 and the method for confirming or canceling the lane change can be displayed on the instrument screen: "About to change to lane 2, push the lever upward or turn the steering wheel slightly clockwise to cancel the lane change (2s)", where "(2s)" is the countdown seconds, and the total number of seconds of the countdown can be the first duration mentioned above.
  • the vehicle is controlled to change to lane 2, and the user can also be prompted to pay attention to the road conditions through "About to change lanes, please pay attention to safety" as shown in (b) in FIG6; if the user pushes the lever upward (opposite to the lane change direction) when the countdown seconds have not returned to zero
  • the lever or turning the steering wheel clockwise opposite to the lane change direction
  • the lane change is canceled in response to the user's operation, and the vehicle is controlled to continue driving in lane 1.
  • the above lane change task and the method for confirming or canceling the lane change can also be prompted through a speaker or HUD.
  • the method for prompting the lane change task and/or the method for confirming or canceling the lane change can refer to the corresponding embodiment of FIG. 5.
  • FIG7 shows three driving scenarios that may be involved in the driving process of the vehicle (the preset speed threshold is 60 km/h for example in the embodiment of the present application), wherein (a) shows the scenario of the vehicle merging into the main road from the ramp; (b) shows the scenario of the vehicle changing lanes to overtake while driving on a road with a speed limit of 50 km/h; (c) shows the scenario of the vehicle changing lanes to enter the ramp when driving on the highway.
  • the vehicle's driving speed is less than 60 km/h
  • the vehicle's driving speed is greater than 60 km/h.
  • the vehicle when the vehicle is in the smart initiation mode and in the driving scene shown in (a) of FIG7 , if a lane change is detected, the vehicle can be automatically controlled to change lanes without the user confirming whether to change lanes, and the user can be prompted to change lanes before the lane change.
  • FIG8 when the vehicle is driving in lane 1 at a speed of 44 km/h, it needs to merge to the left into the main road (as shown in display area 801, the distance from the main road is 455 meters). At this time, before changing lanes, the user can be prompted through the speaker or instrument screen "about to change lanes, please pay attention to safety".
  • the method for prompting a lane change task and/or a method for confirming or canceling a lane change can refer to the corresponding embodiment of FIG. 6 .
  • the GUI shown in FIG. 9 can prompt the user to confirm or cancel the lane change. As shown in FIG.
  • the speaker or instrument screen can prompt the method for confirming or canceling the lane change: "Turn the steering wheel clockwise to confirm the lane change, and turn the steering wheel counterclockwise to cancel the lane change".
  • the vehicle in response to the user's operation of turning the steering wheel clockwise (the same as the lane change direction), the vehicle is controlled to change from lane 1 to lane 2; or, in response to the user's operation of turning the steering wheel counterclockwise (opposite to the lane change direction), the lane change operation is canceled.
  • the absolute value of the steering wheel torque is greater than the first torque threshold and less than or equal to the second torque threshold, the user operation is considered to be "turning the steering wheel lightly".
  • GUIs shown in Figures 5 to 9 are only for exemplary purposes. In the specific implementation process, only the lane changing task may be prompted, that is, the prompt "It is recommended to change to lane 2" or the prompt “It will change to lane 2 soon", where lane 2 is the target driving lane.
  • FIG. 10 shows a schematic block diagram of a lane changing device 1000 provided in an embodiment of the present application.
  • the device 1000 includes a first determining unit 1010 , a prompting unit 1020 , and a processing unit 1030 .
  • the device 1000 may include units for executing the method in Fig. 3. Moreover, each unit in the device 1000 and the other operations and/or functions described above are respectively for implementing the corresponding processes of the method embodiment in Fig. 3.
  • the first determination unit 1010 may be used to execute S301 in the method 300
  • the prompt unit 1020 may be used to execute S302 in the method 300
  • the processing unit 1030 may be used to execute S303 in the method 300 .
  • the first determination unit 1010 is used to: determine a first lane changing mode from multiple lane changing modes according to a first instruction, wherein a different lane changing method is provided to a user of the intelligent driving device in each of the multiple lane changing modes;
  • the prompt unit 1020 is used to: prompt a first lane changing task in the first lane changing mode;
  • the processing unit 1030 is used to: control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task and the first lane changing method provided to the user in the first lane changing mode.
  • the device 1000 also includes a second determination unit, used to: determine the first lane changing method according to the driving speed of the intelligent driving device; the processing unit 1030 is used to: according to the first lane changing task and the first lane changing method, in response to the user's first preset operation, control the intelligent driving device to change lanes or cancel the lane changing.
  • a second determination unit used to: determine the first lane changing method according to the driving speed of the intelligent driving device
  • the processing unit 1030 is used to: according to the first lane changing task and the first lane changing method, in response to the user's first preset operation, control the intelligent driving device to change lanes or cancel the lane changing.
  • the first preset operation when the driving speed is greater than or equal to a first preset speed threshold, includes at least one of moving a lever and rotating a steering wheel; or when the driving speed is less than the first preset speed threshold, the first preset operation includes at least one of moving a lever, rotating a steering wheel, pressing a steering wheel button, and no action within a first time period.
  • the device 1000 also includes a third determination unit, used to: determine the first lane changing method according to the driving speed and driving scenario of the intelligent driving device; the processing unit 1030 is used to: control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task, the first lane changing method and the first preset scenario; or control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task and the first lane changing method in response to the user's second preset operation.
  • a third determination unit used to: determine the first lane changing method according to the driving speed and driving scenario of the intelligent driving device
  • the processing unit 1030 is used to: control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task, the first lane changing method and the first preset scenario; or control the intelligent driving device to change lanes or cancel the lane changing according to the first lane changing task and the first lane changing method in response to the user's second preset operation.
  • the second preset operation when the driving speed is greater than or equal to a second preset speed threshold, includes at least one of moving a lever and rotating a steering wheel; or when the driving speed is less than the second preset speed threshold and the driving scene is the second preset scene, the second preset operation includes at least one of moving a lever, rotating a steering wheel, pressing a steering wheel button, and no action within a second time period.
  • the processing unit 1030 is used to: in response to the second preset operation, control the intelligent driving device to cancel the lane changing; wherein the first direction is a direction opposite to the direction of changing from the first lane to the second lane.
  • the prompting unit 1020 is further used to: prompt a second lane change task.
  • the first lane changing task instructs the intelligent driving device to change from the third lane to the fourth lane
  • the second preset operation is to move the lever in the second direction within the second time period, or to rotate the steering wheel in the second direction.
  • the processing unit 1030 is used to: in response to the second preset operation, control the intelligent driving device to change from the third lane to the fourth lane; wherein the second direction is the same direction as the direction of changing from the third lane to the fourth lane.
  • the processing unit 1030 is further configured to: within a third time period, when it is detected that the intelligent driving device needs to change lanes from the fourth lane to the fifth lane, control the intelligent driving device to change lanes.
  • the first lane changing task instructs the intelligent driving device to change from the sixth lane to the seventh lane.
  • the processing unit 1030 controls the intelligent driving device to change from the sixth lane to the seventh lane.
  • the processing unit 1030 is also used to: within the fourth time period, when it is detected that the intelligent driving device needs to change from the seventh lane to the eighth lane, control the intelligent driving device to change lanes.
  • the device 1000 may be arranged in the lane changing mode selection and lane changing mode design module shown in FIG. 2 .
  • the division of the units in the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated.
  • the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory.
  • the processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the units of the device, wherein the processor is, for example, a general-purpose processor, such as a CPU or a microprocessor, and the memory is a memory in the device or a memory outside the device.
  • the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits.
  • the hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented by PLD.
  • FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through the configuration file, so as to realize the functions of some or all of the above units. All units of the above device may be implemented entirely in the form of a processor calling software, or entirely in the form of a hardware circuit, or partially in the form of a processor calling software and the rest in the form of a hardware circuit.
  • a processor is a circuit with the ability to process signals.
  • the processor may be a circuit with the ability to read and run instructions, such as a CPU, a microprocessor, a GPU, or a DSP; in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA.
  • the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units.
  • it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.
  • each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.
  • processors or processing circuits
  • SOC system-on-a-chip
  • the SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device.
  • the type of the at least one processor may be different. For example, CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.
  • the operations performed by the first determination unit 1010, the prompt unit 1020 and the processing unit 1030 can be performed by the same processor, or can also be performed by different processors, for example, respectively performed by multiple processors.
  • the one or more processors can be a processor set in the computing platform 150 shown in Figure 1, or can also be a processor set in a cloud server.
  • the device 1000 can be a chip set in the intelligent driving device 100.
  • FIG11 is a schematic block diagram of a lane changing device according to an embodiment of the present application.
  • the lane changing device 1100 shown in FIG11 may include: a processor 1110, a transceiver 1120, and a memory 1130.
  • the processor 1110, the transceiver 1120, and the memory 1130 are connected via an internal connection path, the memory 1130 is used to store instructions, the processor 1110 is used to execute the instructions stored in the memory 1130, and the transceiver 1120 receives/sends some parameters.
  • the memory 1130 may be coupled to the processor 1110 via an interface, or may be integrated with the processor 1110.
  • transceiver 1120 may include but is not limited to a transceiver device such as an input/output interface to achieve communication between the device 1100 and other devices or communication networks.
  • Memory 1130 can be a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM).
  • ROM read-only memory
  • RAM random access memory
  • the transceiver 1120 uses a transceiver device such as, but not limited to, a transceiver to implement communication between the apparatus 1100 and other devices or a communication network.
  • a transceiver device such as, but not limited to, a transceiver to implement communication between the apparatus 1100 and other devices or a communication network.
  • the device 1100 may be disposed in the computing platform 150 shown in FIG. 1 , or may also be disposed in the lane changing mode selection and lane changing method design module shown in FIG. 2 .
  • An embodiment of the present application also provides an intelligent driving device, which may include the above-mentioned device 1000 or the above-mentioned device 1100.
  • the intelligent driving device may be a vehicle.
  • the embodiment of the present application also provides a computer program product, which includes a computer program code.
  • the computer program code runs on a computer, the computer implements the method in the embodiment of the present application.
  • the embodiment of the present application also provides a computer-readable storage medium, which stores computer instructions.
  • the computer instructions When the computer instructions are executed on a computer, the computer implements the method in the embodiment of the present application.
  • the embodiment of the present application also provides a chip, including a circuit, for executing the method in the embodiment of the present application.
  • each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software.
  • the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in a processor for execution.
  • the software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or a power-on erasable programmable memory, a register, etc.
  • the storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.
  • Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple 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.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may be separately Physically exist, or two or more units can be integrated into one unit.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application can essentially or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application.
  • the aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

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Abstract

一种换道方法，包括：根据第一指令从多个换道模式中确定第一换道模式，其中，该多个换道模式中每个换道模式下为智能驾驶设备的用户提供的换道方式不同（S301）；在该第一换道模式下，提示第一换道任务(S302）；根据该第一换道任务和该第一换道模式下为该用户提供的第一换道方式，控制该智能驾驶设备进行换道或取消换道（S303）。该方法可以应用于智能车辆、电动车辆等智能驾驶设备中，提供多种换道方式，支持用户根据习惯选择换道方式，有助于提高用户的驾乘体验。还提供了一种装置和智能驾驶设备。

Description

换道方法、装置和智能驾驶设备
本申请要求于2022年10月21日提交中国专利局、申请号为202211291092.4、申请名称为“换道方法、装置和智能驾驶设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能驾驶领域，更具体地，涉及一种换道方法、装置和智能驾驶设备。
背景技术
随着汽车行业的快速发展，产生了很多辅助驾驶、自动驾驶技术，可以减轻驾驶压力、提高安全性和通行效率。在当前技术背景下，智能驾驶辅助换道系统中，通常需要用户在对是否换道进行确认，但无法满足不同用户的习惯，且存在确认方式单一、与人工驾驶行为拟合度差等问题。
发明内容
本申请实施例提供一种换道方法、装置和智能驾驶设备，提供多种换道方式，支持用户根据习惯选择换道方式，有助于提高用户的驾乘体验。
第一方面，提供了一种换道方法，该方法可以由智能驾驶设备执行；或者，也可以由智能驾驶设备的车载终端如车机等执行；或者，还可以由用于智能驾驶设备的芯片或电路执行，本申请对此不作限定。
本申请涉及的智能驾驶设备可以包括路上交通工具、水上交通工具、空中交通工具、工业设备、农业设备、或娱乐设备等。例如智能驾驶设备可以为车辆，该车辆为广义概念上的车辆，可以是交通工具(如商用车、乘用车、摩托车、飞行车、火车等)，工业车辆(如：叉车、挂车、牵引车等)，工程车辆(如挖掘机、推土车、吊车等)，农用设备(如割草机、收割机等)，游乐设备，玩具车辆等，本申请实施例对车辆的类型不作具体限定。
该方法包括：根据第一指令从多个换道模式中确定第一换道模式，其中，该多个换道模式中每个换道模式下为智能驾驶设备的用户提供的换道方式不同；在该第一换道模式下，提示第一换道任务；根据该第一换道任务和该第一换道模式下为该用户提供的第一换道方式，控制该智能驾驶设备进行换道或取消换道。
示例性地，第一指令可以为根据用户的设置或选择生成的。
示例性地，多个换道模式可以包括需要确认模式、高速需要确认模式、智能发起模式。
示例性地，换道方式可以包括需要用户确认、限时自动确认和无需用户确认中的至少一种。其中，在需要用户确认和限时自动确认的换道方式中，支持用户以多种方式进行换道确认或取消。
在上述技术方案中，支持多种换道模式，能够根据用户的选择从多种换道模式中确定一种在行驶中使用的换道模式，可以满足不同驾驶习惯的用户。并且，为用户提供了多种用于确认换道或取消换道的方式，降低确认不及时导致的错过换道时机的几率，有助于降低用户因换道操作而分散注意力的可能性，进而提高行驶安全。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：根据该智能驾驶设备的行驶速度确定该第一换道方式；该根据该第一换道任务和该第一换道模式下为该用户提供的第一换道方式，控制该智能驾驶设备进行换道或取消换道，包括：根据该第一换道任务以及该第一换道方式，响应于该用户的第一预设操作，控制该智能驾驶设备进行换道或取消换道。
示例性地，在第一换道模式为高速需要确认模式时，可以根据该智能驾驶设备的行驶速度确定该第一换道方式。
结合第一方面，在第一方面的某些实现方式中，在该行驶速度大于或等于第一预设速度阈值时，该第一预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者在该行驶速度小于该第一预设速度阈 值时，该第一预设操作包括在第一时长内拨动拨杆、旋转方向盘、按动方向盘按键、以及无动作中的至少一个。
需要说明的是，上述“无动作”是指用户不进行任何操作，进一步地，用户在第一时长内不进行任何操作时，智能驾驶设备根据第一换道任务进行换道。
示例性地，第一预设速度可以为60公里/小时，或者也可以为65公里/小时，或者还可以为其他数值；该第一时长可以为2秒，或者也可以为3秒，或者还可以为其他数值。
在上述技术方案中，可以根据智能驾驶设备的行驶速度，确定为用户提供的用于确定换道或取消换道的方式，有助于提高智能驾驶设备换道的便捷性以及行驶安全。此外，在速度较低时，还支持在一定时长内响应于用户的相应操作取消换道，尊重用户意愿，有助于提高用户的驾乘体验。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：根据该智能驾驶设备的行驶速度和行驶场景确定该第一换道方式；该根据该第一换道任务和该第一换道模式下为该用户提供的第一换道方式，控制该智能驾驶设备进行换道或取消换道，包括：根据该第一换道任务、该第一换道方式以及第一预设场景，控制该智能驾驶设备进行换道或取消换道；或者根据该第一换道任务以及该第一换道方式，响应于该用户的第二预设操作，控制该智能驾驶设备进行换道或取消换道。
示例性地，在第一换道模式为智能发起模式时，可以根据该智能驾驶设备的行驶速度和行驶场景确定该第一换道方式。
示例性地，第一预设场景可以包括从匝道汇入主路的行驶场景。
在上述技术方案中，可以根据智能驾驶设备的行驶速度以及行驶场景，确定为用户提供的用于确定换道或取消换道的方式，有助于提高智能驾驶设备的智能性、换道的便捷性以及行驶安全。此外，在行驶场景为从匝道汇入主路时，无需用户确认，即可进行换道操作，使得换道过程更加类人化，有助于提高用户的驾乘体验。
结合第一方面，在第一方面的某些实现方式中，在该行驶速度大于或等于第二预设速度阈值时，该第二预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者在该行驶速度小于该第二预设速度阈值，且行驶场景为第二预设场景时，该第二预设操作包括在第二时长内拨动拨杆、旋转方向盘、按动方向盘按键以及无动作中的至少一个。
示例性地，第二预设场景可以包括超车换道、根据导航信息换道和紧急情况换道中的至少一种。其中，紧急情况换道可以包括为了躲避障碍物进行的换道。
示例性地，第二预设速度可以为60公里/小时，或者也可以为65公里/小时，或者还可以为其他数值；该第二时长可以为2秒，或者也可以为3秒，或者还可以为其他数值。
在上述技术方案中，在行驶场景指示智能驾驶设备因超车、导航指示和紧急情况需要换道行驶时，可以在一定时长内自动进行换道，无需用户指示，使得智能驾驶设备更加类人化和智能化。与此同时，还支持在一定时长内响应于用户的操作取消换道，尊重用户意愿，有助于提高用户的驾乘体验。
结合第一方面，在第一方面的某些实现方式中，该第一换道任务指示该智能驾驶设备由第一车道变更至第二车道，该第二预设操作为向第一方向拨动拨杆，或向该第一方向旋转方向盘时，该控制该智能驾驶设备进行换道或取消换道，包括：响应于该第二预设操作，控制该智能驾驶设备取消换道；其中，该第一方向为与从该第一车道变更至该第二车道的方向相反的方向。
结合第一方面，在第一方面的某些实现方式中，该控制该智能驾驶设备取消换道之后，该方法还包括：提示第二换道任务。
在上述技术方案中，在用户确认不进行换道后，会再发起换道任务，以降低错过路口或匝道口的几率。
结合第一方面，在第一方面的某些实现方式中，该第一换道任务指示该智能驾驶设备由第三车道变更至第四车道，该第二预设操作为在该第二时长内向第二方向拨动拨杆，或向该第二方向旋转方向盘时，该控制智能驾驶设备进行换道或取消换道，包括：响应于该第二预设操作，控制该智能驾驶设备由该第三车道变更至该第四车道；其中，该第二方向为与从该第三车道变更至该第四车道的方向相同的方向。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在第三时长内，检测到该智能驾驶设备需要由该第四车道变更至第五车道时，控制该智能驾驶设备进行换道。
示例性地，第三时长可以为10秒，或者也可以为5秒，或者还可以为其他时长。
示例性地，第四车道与第五车道可以为相邻车道，或者第四车道和第五车道之间也可以包括一条或多条车道。
在一些可能的实现方式中，可以根据导航信息确定智能驾驶设备需要由第四车道变更至第五车道。例如，智能驾驶设备在最左侧车道(如上述第三车道)行驶时，根据导航信息确定在前方路口需要右转，则确定智能驾驶设备需要由最左侧车道经由中间车道(包括第四车道)变更至最右侧车道(第五车道)。在提示第一换道任务(由第三车道变更至第四车道的换道任务)时，在第二时长内响应于用户的第二预设操作，智能驾驶设备完成换道后，在第三时长内，智能驾驶设备可以自动由第四车道变更至第五车道。
在上述技术方案中，在连续导航换道场景中，从第二次开始的道路变更将不需要用户进行确认，使得在该行驶场景下的换道变得更加类人，有助于提高用户体验。
结合第一方面，在第一方面的某些实现方式中，在该行驶速度小于该第二预设速度阈值时，该第一换道任务指示该智能驾驶设备由第六车道变更至第七车道，响应于该按动方向盘按键的操作，控制该智能驾驶设备由该第六车道变更至该第七车道之后，该方法还包括：在第四时长内，检测到该智能驾驶设备需要由该第七车道变更至第八车道时，控制该智能驾驶设备进行换道。
示例性地，第四时长可以为20秒，或者也可以为30秒，或者还可以为其他时长。
在上述技术方案中，在智能驾驶设备较低时，响应于用户按动方向盘按钮的操作进行换道后，在一定时长内检测到还需换道时，无需用户确认即可进行换道操作，有助于在保证行驶安全的前提下，提高智能驾驶设备的类人性，有助于提升用户体验。
第二方面，提供了一种换道装置，该装置包括第一确定单元、提示单元和处理单元，其中，该第一确定单元用于：根据第一指令从多个换道模式中确定第一换道模式，其中，该多个换道模式中每个换道模式下为智能驾驶设备的用户提供的换道方式不同；该提示单元用于：在该第一换道模式下，提示第一换道任务；该处理单元用于：根据该第一换道任务和该第一换道模式下为该用户提供的第一换道方式，控制该智能驾驶设备进行换道或取消换道。
结合第二方面，在第二方面的某些实现方式中，该装置还包括第二确定单元，用于：根据该智能驾驶设备的行驶速度确定该第一换道方式；该处理单元用于：根据该第一换道任务以及该第一换道方式，响应于该用户的第一预设操作，控制该智能驾驶设备进行换道或取消换道。
结合第二方面，在第二方面的某些实现方式中，在该行驶速度大于或等于第一预设速度阈值时，该第一预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者在该行驶速度小于该第一预设速度阈值时，该第一预设操作包括在第一时长内拨动拨杆、旋转方向盘、按动方向盘按键、以及无动作中的至少一个。
结合第二方面，在第二方面的某些实现方式中，该装置还包括第三确定单元，用于：根据该智能驾驶设备的行驶速度和行驶场景确定该第一换道方式；该处理单元用于：根据该第一换道任务、该第一换道方式以及第一预设场景，控制该智能驾驶设备进行换道或取消换道；或者根据该第一换道任务以及该第一换道方式，响应于该用户的第二预设操作，控制该智能驾驶设备进行换道或取消换道。
结合第二方面，在第二方面的某些实现方式中，在该行驶速度大于或等于第二预设速度阈值时，该第二预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者在该行驶速度小于该第二预设速度阈值，且行驶场景为第二预设场景时，该第二预设操作包括在第二时长内拨动拨杆、旋转方向盘、按动方向盘按键以及无动作中的至少一个。
结合第二方面，在第二方面的某些实现方式中，该第一换道任务指示该智能驾驶设备由第一车道变更至第二车道，该第二预设操作为向第一方向拨动拨杆，或向该第一方向旋转方向盘时，该处理单元用于：响应于该第二预设操作，控制该智能驾驶设备取消换道；其中，该第一方向为与从该第一车道变更至该第二车道的方向相反的方向。
结合第二方面，在第二方面的某些实现方式中，该处理单元控制该智能驾驶设备取消换道之后，该提示单元还用于：提示第二换道任务。
结合第二方面，在第二方面的某些实现方式中，该第一换道任务指示该智能驾驶设备由第三车道变更至第四车道，该第二预设操作为在该第二时长内向第二方向拨动拨杆，或向该第二方向旋转方向 盘时，该处理单元用于：响应于该第二预设操作，控制该智能驾驶设备由该第三车道变更至该第四车道；其中，该第二方向为与从该第三车道变更至该第四车道的方向相同的方向。
结合第二方面，在第二方面的某些实现方式中，该处理单元还用于：在第三时长内，检测到该智能驾驶设备需要由该第四车道变更至第五车道时，控制该智能驾驶设备进行换道。
结合第二方面，在第二方面的某些实现方式中，在该行驶速度小于该第二预设速度阈值时，该第一换道任务指示该智能驾驶设备由第六车道变更至第七车道，响应于该按动方向盘按键的操作，该处理单元控制该智能驾驶设备由该第六车道变更至该第七车道之后，该处理单元还用于：在第四时长内，检测到该智能驾驶设备需要由该第七车道变更至第八车道时，控制该智能驾驶设备进行换道。
第三方面，提供了一种换道装置，该装置包括：存储器，用于存储计算机程序；处理器，用于执行该存储器中存储的计算机程序，以使得该装置执行如第一方面任一种可能实现方式中的方法。
第四方面，提供了一种智能驾驶设备，该智能驾驶设备包括如第二方面或第三方面任一种可能实现方式中的装置。
结合第四方面，在第四方面的某些实现方式中，该智能驾驶设备为车辆。
第五方面，提供了一种计算机程序产品，上述计算机程序产品包括：计算机程序代码，当上述计算机程序代码在计算机上运行时，使得计算机执行上述第一方面中任一种可能实现方式中的方法。
需要说明的是，上述计算机程序代码可以全部或部分存储在第一存储介质上，其中第一存储介质可以与处理器封装在一起的，也可以与处理器单独封装。
第六方面，提供了一种计算机可读介质，上述计算机可读介质存储有指令，当上述指令被处理器执行时，使得处理器实现上述第一方面中任一种可能实现方式中的方法。
第七方面，提供了一种芯片，该芯片包括电路，该电路用于执行上述第一方面中任一种可能实现方式中的方法。
附图说明
图1是本申请实施例提供的智能驾驶设备的功能框图示意；
图2是本申请实施例提供的换道方法实施所需的系统架构的功能框图示意；
图3是本申请实施例提供的换道方法的示意性流程图；
图4是本申请实施例提供的一组GUI；
图5是本申请实施例提供的另一组GUI；
图6是本申请实施例提供的另一组GUI；
图7是本申请实施例提供的行驶场景的示意图；
图8是本申请实施例提供的另一组GUI；
图9是本申请实施例提供的另一组GUI；
图10是本申请实施例提供的换道装置的一种示意性框图；
图11是本申请实施例提供的换道装置的又一种示意性框图。
具体实施方式
在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；本文中的“和/或”是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a，b，c，a-b，a-c，b-c，或a-b-c，其中a，b，c可以是单个，也可以是多个。
本申请实施例中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有限定作用。本申请实施例中对序数词等用于区分描述对象的前缀词的使用不对所描述对象构成限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。
在当前智能驾驶系统中，辅助换道功能的实现通常为：在智能驾驶系统生成换道任务后，需要用 户确认是否进行换道，且确认是否换道的方式主要为按钮控制、拨杆控制、语音控制等控制方式。并且，一般在用户确认不进行换道后，智能驾驶系统不会再发起换道任务。
上述技术方案存在以下几个弊端：其一，确认是否换道的方式较为单一，使得用户可能无法及时确认是否换道，也无法满足多样化的行驶场景以及类人的确认需求。例如，当用户单侧手不方便操作拨杆或按钮时，可能无法及时进行换道任务确认或取消。其二，在用户确认不进行换道后，智能驾驶系统不会再发起换道任务，容易错过路口或匝道，不够类人化。
鉴于此，本申请提供一种换道方法、装置和智能驾驶设备，支持多种换道模式，能够根据用户的设定从多种换道模式中确认一种换道模式，可以满足不同驾驶习惯的用户。并且，可以结合行驶场景和/或行驶速度确认换道方式，能够满足多样化的行驶场景，降低确认不及时导致的错过换道时机的几率，且有助于提高行驶安全。
需要说明的是，本申请实施例中涉及的“换道任务”可以为智能驾驶设备根据其周围环境信息，和/或导航信息生成的建议进行换道的信息，或者通知即将进行换道的信息。其中，建议进行换道的信息需要经由用户确认，智能驾驶设备才会进行换道或取消换道；通知即将进行换道的信息无需用户确认，智能驾驶设备就会进行换道，或者允许用户在一定时长内取消即将进行的换道。
下面将结合附图，对本申请实施例中的技术方案进行描述。
图1是本申请实施例提供的智能驾驶设备100的一个功能框图示意。智能驾驶设备100可以包括感知系统120、显示装置130和计算平台150，其中，感知系统120可以包括感测关于智能驾驶设备100周边的环境的信息的一种或多种传感器。例如，感知系统120可以包括定位系统，定位系统可以是全球定位系统(global positioning system，GPS)，也可以是北斗系统或者其他定位系统、惯性测量单元(inertial measurement unit，IMU)。又例如，感知系统120还可以包括激光雷达、毫米波雷达、超声雷达以及摄像装置中的一种或者多种。在一些可能的实现方式中，智能驾驶设备100还可以包括发声设备，如扬声器，用于向智能驾驶设备100的用户输出音频。在一些可能的实现方式中，智能驾驶设备100也可以通过其他外接设备，如蓝牙耳机等与用户进行语音交互，本申请实施例对此不作具体限定。
座舱内的显示装置130主要分为两类，第一类是车载显示屏；第二类是投影显示屏，例如抬头显示装置(head up display，HUD)。车载显示屏是一种物理显示屏，是车载信息娱乐系统的重要组成部分，座舱内可以设置有多块显示屏，如数字仪表显示屏(以下简称仪表屏)，中控屏，副驾驶位上的乘客(也称为前排乘客)面前的显示屏，左侧后排乘客面前的显示屏以及右侧后排乘客面前的显示屏，甚至是车窗也可以作为显示屏进行显示。在一些可能的实现方式中，上述车载显示屏中的一个或多个，可以为人机交互界面(human machine interface，HMI)，例如，中控屏可以为HMI。抬头显示，也称平视显示系统。主要用于在用户前方的显示设备(例如挡风玻璃)上显示例如时速、导航等驾驶信息。以降低用户视线转移时间，避免因用户视线转移而导致的瞳孔变化，提升行驶安全性和舒适性。HUD例如包括组合型抬头显示(combiner-HUD，C-HUD)系统、风挡型抬头显示(windshield-HUD，W-HUD)系统、增强现实型抬头显示系统(augmented reality HUD，AR-HUD)。
智能驾驶设备100的部分或所有功能可以由计算平台150控制。计算平台150可以包括一个或多个处理器，例如处理器151至15n(n为正整数)，处理器是一种具有指令的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如中央处理单元(central processing unit，CPU)、微处理器、图形处理器(graphics processing unit，GPU)(可以理解为一种微处理器)、或数字指令处理器(digital signal processor，DSP)等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为专用集成电路(application-specific integrated circuit，ASIC)或可编程逻辑器件(programmable logic device，PLD)实现的硬件电路，例如现场可编程门阵列(field programmable gate array，FPGA)。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如神经网络处理单元(neural network processing unit，NPU)、张量处理单元(tensor processing unit，TPU)、深度学习处理单元(deep learning processing unit，DPU)等。此外，计算平台150还可以包括存储器，存储器用于存储指令，处理器151至15n中的部分或全部处理器可以调用存储器中的指令， 执行指令，以实现相应的功能。
智能驾驶设备100可以包括高级驾驶辅助系统(advanced driving assistant system，ADAS)，ADAS利用在智能驾驶设备上的多种传感器(包括但不限于：激光雷达、毫米波雷达、摄像装置、超声波传感器、全球定位系统、惯性测量单元)从智能驾驶设备周围获取信息，并对获取的信息进行分析和处理，实现例如障碍物感知、目标识别、智能驾驶设备定位、路径规划、用户监控/提醒等功能，从而提升智能驾驶设备驾驶的安全性、自动化程度和舒适度。
从逻辑功能上来说，ADAS系统一般包括三个主要功能模块：感知模块，决策模块和执行模块，感知模块通过传感器感知车身周围环境，输入相应实时数据至决策层处理中心，感知模块主要包括车载摄像头/超声波雷达/毫米波雷达/激光雷达等；决策模块根据感知模块获取的信息，使用计算装置和算法做出相应决策；执行模块从决策模块接收到决策指令后采取相应行动，如驾驶、换道、转向、刹车、警示等。
在不同的自动驾驶等级(L0-L5)下，基于人工智能算法和多传感器所获取的信息，ADAS可以实现不同等级的自动驾驶辅助，上述的自动驾驶等级(L0-L5)是基于汽车工程师协会(society of automotive engineers，SAE)的分级标准的。其中，L0级为无自动化；L1级为驾驶支援；L2级为部分自动化；L3级为有条件自动化；L4级为高度自动化；L5级为完全自动化。L1至L3级监测路况并做出反应的任务都由用户和系统共同完成，并需要用户接管动态驾驶任务。L4和L5级可以让用户完全转变为乘客的角色。目前，ADAS可以实现的功能主要包括但不限于：自适应巡航、自动紧急刹车、自动泊车、盲点监测、前方十字路口交通警示/制动、后方十字路口交通警示/制动、前车碰撞预警、车道偏离预警、车道保持辅助、后车防撞预警、交通标识识别、交通拥堵辅助、高速公路辅助等。应当理解的是：上述的各种功能在不同的自动驾驶等级(L0-L5)下可以有具体的模式，自动驾驶等级越高，对应的模式越智能，需要的感知、规控算法的精度越高。
图2示出了本申请实施例提供的一种换道方法实施所需的系统架构的示意性框图。如图2所示，该系统包括感知模块、换道模式选择及换道方式设计模块、人机交互模块、规划控制模块和执行器。其中，感知模块可以包括图1所示的感知系统120中的一种或多种摄像装置，或者一种或多种雷达传感器，用于采集智能驾驶设备的周围环境信息，智能驾驶设备实时运动参数(如行驶速度)等，感知模块还可以对采集的周围环境信息进行处理，为下游模块(即决策规划模块和控制模块)建立道路、障碍物等构成的世界模型；换道模式选择及换道方式设计模块可以为图1所示的计算平台150中的一个或多个处理器，用于响应于用户的设定确认换道模式，并在该换道模式下根据智能驾驶设备的行驶速度和/或周围环境设计换道方式(即确认是否换道的方式)，包括提示换道任务的方式、等待用户响应的时长等。示例性地，换道模式可以包括始终需要确认模式、高速需要确认模式(例如，行驶速度超过预设速度阈值时，需要用户确认是否换道)、智能发起模式(根据行驶场景确认是否需要用户确认是否换道)；换道方式可以包括限时自动确认、无需用户确认、需要用户确认等。人机交互模块可以包括图1中所示的显示装置130中的一个或多个，例如HMI，或者还可以包括方向盘系统、拨杆系统以及按键系统中的一个或多个，人机交互模块可以向用户通知换道任务，并且响应于用户的操作确认是否进行换道。规划控制模块用于根据人机交互模块输出的结果(例如确认换道)规划运动轨迹，根据规划运动轨迹计算相应的控制量，并将上述控制量输出到执行器。在一些可能的换道模式下，无需用户操作进行换道，则规划控制模块还可以根据换道模式选择及换道方式设计模块输出的结果(例如确认换道)规划运动轨迹，并根据规划运动轨迹计算相应的控制量，将上述控制量输出到执行器。在执行器执行控制量时，控制智能驾驶设备按规划运动轨迹行驶。在一些可能的实现方式中，执行器也可以包括智能驾驶设备100中的转向、制动控制系统。
应理解，上述模块仅为一个示例，实际应用中，上述模块有可能根据实际需要添加或删除。例如，图2中所示的系统架构中，换道模式选择及换道方式设计模块和规划控制模块可以合并为一个模块。
图3示出了本申请实施例提供的一种换道方法300的示意性流程图。该方法可以应用于图1所示的智能驾驶设备中，或者该方法可以由图2所示的系统执行。示例性地，以下以该方法由自车的计算平台执行为例进行说明，该方法300可以包括：
S301，根据第一指令从多个换道模式中确定第一换道模式；其中，该多个换道模式中每个换道模式下为智能驾驶设备的用户提供的换道方式不同。
示例性地，多个换道模式可以包括始终需要确认模式、高速需要确认模式、智能发起模式。
示例性地，第一指令可以为响应于用户针对自车的HMI(或中控屏)的输入生成的指令，例如，如图4所示，通过HMI提示用户进行换道模式选择，触摸传感器检测到HMI上“智能发起模式”以及“确认”处点击信号时，根据该点击信号生成的确认使用智能发起模式的指令。
或者，第一指令也可以为针对自车的物理部件的操作生成的指令，该物理部件可以为方向盘上的按键，或者也可以为拨杆；自车的压力传感器采集到按压信号时，自车的处理装置(如处理器)可以对该按压信号进行处理并进行相应控制，则第一指令可以为处理装置根据该按压信号生成的切换换道模式或确认换道模式的指令。
或者，第一指令也可以为用户的语音指令，例如，计算平台可以通过声音传感器(或收音设备)获取语音指令的音频，通过处理装置解析出“请开启第一换道模式”或“请切换至第一换道模式”的语音语义，第一指令可以为该语音指令。
在一些可能的实现方式中，如图4所示，在检测到用户进入自车的座舱后，可以通过扬声器、HUD、HMI中的至少一个提示用户选择换道模式。例如，如图4中的401所示，通过HUD显示“请选择换道模式”；或者如图4中的402所示，通过扬声器播报“请选择换道模式”。
在一些可能的实现方式中，用户未选择换道模式，则可以确定上次行程中使用的换道模式为第一换道模式；或者，可以确定系统默认的换道模式为第一换道模式；或者，还可以根据用户的身份信息确定该用户经常使用的换道模式为第一换道模式。
示例性地，换道方式可以包括但不限于：需要用户确认、无需用户确认以及限时自动确认。对于需要用户确认的方式中，支持用户通过拨杆、按键、方向盘、以及语音指令进行确认换道或取消换道。
示例性地，在始终需要确认模式下，提示换道任务后，始终需要用户确认才会进行换道或者取消换道。
在高速需要确认模式下，根据行驶速度判断是否需要用户确认进行换道或取消换道；例如，在行驶速度大于或等于第一预设速度阈值时，提示换道任务后，需要用户确认才会进行换道或者取消换道；在行驶速度小于第一预设速度阈值时，提示换道任务后，在第一预设时长后自动确认进行换道，若在该第一预设时长内，检测到用户的取消指令，则取消换道。
在智能发起模式下，根据行驶场景判断是否需要用户确认进行换道或取消换道；例如，在行驶速度大于或等于第二预设速度阈值，且处于车道合并场景时，提示换道任务后，需要用户确认才会进行换道或者取消换道；在行驶速度小于第二预设速度阈值，且处于车道合并场景时，提示换道任务后，直接进行换道或取消换道，无需用户确认；在行驶速度小于第三预设速度阈值，且处于超车场景时，提示换道任务后，在第二预设时长后自动确认进行换道，若在该第二预设时长内，检测到用户的取消指令，则取消换道。
在一些可能的实现方式中，换道模式与换道方式之间的对应关系可以为用户定义的，或者可以为出厂时设定的。
S302，在该第一换道模式下，提示第一换道任务。
示例性地，“提示第一换道任务”，可以包括控制显示装置和/或发声设备提示第一换道任务。例如，可以控制扬声器、HUD、HMI中的至少一个向用户提示第一换道任务。
示例性地，该第一换道任务可以为上述实施例中的换道任务，可以包括建议进行换道的信息，或者通知即将进行换道的信息。例如，建议从第一车道变更至第二车道的信息，或者，通知即将从第一车道变更至第二车道的信息。其中，第一车道为自车当前行驶车道，第二车道为目标行驶车道。
在一些可能的实现方式中，上述第一换道任务可以为自车根据其周围环境信息(例如，周围障碍物与自车之间的距离信息、车道线信息等)、道路信息、导航信息中的至少一个确定的。示例性地，在自车的导航信息提示需要在前方路口右转，但自车当前未处于右转车道时，可以生成第一换道任务，并提示第一换道任务，该第一换道任务指示变更至右转车道。或者，该第一换道任务也可以自车从服务器处获取的，或者，还可以是通过其他方式生成或获取的。
S303，根据该第一换道任务和该第一换道模式下为该用户提供的第一换道方式，控制智能驾驶设备进行换道或取消换道。
一示例中，第一换道方式为需要用户确认时，可以响应于用户针对自车的HMI的输入，控制智能 驾驶设备进行换道或取消换道，例如，触摸传感器检测到HMI上“确认换道”以及“取消换道”处点击信号时，根据该点击信号控制智能驾驶设备换道或取消换道。
或者，第一换道方式为需要用户确认时，也可以响应于针对自车的物理部件的操作，控制智能驾驶设备进行换道或取消换道。其中，该物理部件可以为方向盘，或者也可以为方向盘上的按键，或者也可以为拨杆；自车的扭矩传感器采集到扭矩信号时，自车的处理装置(如处理器)可以对该扭矩信号进行处理并进行相应控制。自车的压力传感器采集到按压信号时，自车的处理装置(如处理器)可以对该按压信号进行处理并进行相应控制。
或者，第一换道方式为需要用户确认时，也可以响应于用户的语音指令，控制智能驾驶设备进行换道或取消换道。例如，计算平台可以通过声音传感器(或收音设备)获取语音指令的音频，通过处理装置解析出“确认换道”或“取消换道”的语音语义，根据该语音指令，控制智能驾驶设备进行换道或取消换道。
又一示例中，第一换道方式为限时自动确认时，可以根据用户的行为生成的指令，控制智能驾驶设备进行换道或取消换道。例如，在提示第一换道任务后的第一预设时长内，未检测到用户的任何操作时，控制智能驾驶设备进行换道；或者，在提示第一换道任务后的第一预设时长内，检测到用户取消换道的操作时，控制取消换道。
再一示例中，第一换道方式为无需用户确认时，可以根据行驶场景控制智能驾驶设备进行换道。例如，在行驶速度小于第二预设速度阈值，且处于车道合并场景时，在周围环境满足换道条件时，控制智能驾驶设备进行换道；或者，在行驶速度小于第二预设速度阈值，且处于车道合并场景时，在周围环境不满足换道条件时，控制取消换道。示例性地，上述换道条件可以包括：自车后方的其他车道的道路参与者与自车之间的距离大于或等于第一预设距离，自车前方的其他车道的道路参与者或障碍物与自车之间的距离大于或等于第二预设距离。应理解，“其他车道”为与自车所处车道不同的车道。在一些可能的实现方式中，换道场景需符合道路交通法规，例如，在自车想要超车时，若检测到当前行驶路段，或者即将进入的路段为铁路道口、交叉路口、窄桥、弯道、陡坡、隧道、人行横道、市区交通流量大的路段中的至少一个时，则认为不满足换道条件。
本申请实施例提供的一种换道方法，支持多种换道模式，能够根据用户的选择从多种换道模式中确认一种在行驶中使用的换道模式，可以满足不同驾驶习惯的用户。并且，提供了多种换道方式供用户选择，降低确认不及时导致的错过换道时机的几率，有助于降低用户因换道操作而分散注意力的可能性，进而提高行驶安全。
以下以智能驾驶设备为车辆为例，结合表1以及图5至图9所示的车辆在换道过程中车载显示屏的显示变化，对上述换道方法300提供的几种换道模式，及换道模式对应的为用户提供的换道方式进行详细说明。
一示例中，如表1所示，在始终需要确认模式下，在检测到车辆需要换道，并提示换道任务后，无论车辆行驶速度为多少，以及行驶场景是什么，均需要用户通过拨杆确认换道或取消换道。示例性地，拨动拨杆的方向与车辆换道方向相同时，为确认换道；拨动拨杆的方向与车辆换道方向相反时，为取消换道。若用户未响应提示信息，即未操纵拨杆，则车辆在第三预设时长内取消提示信息。示例性地，该第三预设时长可以为20秒，或者也可以为10秒，或者还可以为其他时长。
又一示例中，在第一换道模式为高速需要确认模式时，根据该车辆的行驶速度确定该第一换道方式，根据该第一换道任务以及该第一换道方式，响应于该用户的第一预设操作，控制该车辆进行换道或取消换道。其中，第一预设操作可以包括拨动拨杆、旋转方向盘中的至少一个；或者，第一预设操作可以包括在第一时长内拨动拨杆、旋转方向盘、按动方向盘按键、以及无动作中的至少一个。
在一些可能的实现方式中，在车辆行驶速度小于预设速度阈值(如上述实施例中的第一预设速度阈值)时，确定第一换道方式为限时自动确认。进一步地，在检测到车辆需要换道，并提示第一换道任务后，若用户在第一时长(如上述实施例中的第一预设时长)内无动作，则车辆自动变更至目标行驶车道；若检测到用户在第一时长内执行与车辆换道方向相同的拨动拨杆的操作或扭动方向盘的操作，则控制车辆即刻变更至目标行驶车道；若检测到用户在第一时长内执行与车辆换道方向相反的拨动拨杆的操作或扭动方向盘的操作，则控制车辆取消换道。
在一些可能的实现方式中，在车辆行驶速度大于或等于预设速度阈值时，确定第一换道方式为需 要用户确认。进一步地，在检测到车辆需要换道，并提示第一换道任务后，若检测到用户执行与车辆换道方向相同的拨动拨杆的操作，则控制车辆即刻变更至目标行驶车道；若检测到用户执行与车辆换道方向相反的拨动拨杆的操作，则控制车辆取消换道。
示例性地，上述预设速度阈值可以为60公里/小时，或者也可以为65公里/小时，或者还可以为其他数值；该第一时长可以为2秒，或者也可以为3秒，或者还可以为其他数值。
再一示例中，在第一换道模式为智能发起模式时，根据该车辆的行驶速度和行驶场景确定该第一换道方式，根据该第一换道任务、该第一换道方式以及第一预设场景，控制该车辆进行换道或取消换道；或者根据该第一换道任务以及该第一换道方式，响应于该用户的第二预设操作，控制该车辆进行换道或取消换道。其中，第二预设操作可以包括拨动拨杆、旋转方向盘中的至少一个；或者，第二预设操作可以包括在第二时长内拨动拨杆、旋转方向盘、按动方向盘按键、以及无动作中的至少一个。
在一些可能的实现方式中，行驶场景为从匝道汇入主路、拨杆换道中的至少一个，且行驶速度小于预设速度阈值(如上述实施例中的第二预设速度阈值)时，确定第一换道方式为无需用户确认。进一步地，在检测到车辆需要换道，并提示第一换道任务后，车辆确定行驶场景为从匝道汇入主路(即第一预设场景)时，在周围环境满足换道条件时自动变更至目标行驶车道。
在一些可能的实现方式中，行驶场景为导航换道、超车换道、紧急情况换道中的至少一个，且行驶速度小于预设速度阈值时，确定第一换道方式为限时自动确认。进一步地，在检测到车辆需要换道，并提示第一换道任务后，若用户在第二时长(如上述实施例中的第二预设时长)内无动作，则车辆自动变更至目标行驶车道；若检测到用户在第二时长内执行与车辆换道方向相同的拨动拨杆的操作或扭动方向盘的操作，则控制车辆即刻变更至目标行驶车道；若检测到用户在第二时长内执行与车辆换道方向相反的拨动拨杆的操作或扭动方向盘的操作，则控制车辆取消换道。需要说明的是，上述“导航换道”是指根据导航信息变更车道，例如，车辆在前方路口需要右转，但是车辆当前所处车道并非右转车道，则根据导航信息需要变更至右转车道。
在一些可能的实现方式中，所述第一换道任务指示该车辆由第三车道变更至第四车道，该第二预设操作为在第二时长内向与变道方向相同的方向拨动拨杆，或旋转方向盘时，车辆响应于第二预设操作，由第三车道变更至第四车道。进一步地，在第三时长内，检测到车辆需要由第四车道变更至第五车道时，在满足换道条件时车辆可以自动由第四车辆变更至第五车道。示例性地，车辆由第四车道变更至第五车道的需求可以是根据导航信息确定的，第三时长可以为5秒，或者也可以为8秒，或者还可以为其他时长。
在一些可能的实现方式中，在车辆行驶速度大于或等于预设速度阈值时，确定第一换道方式为需要用户确认。进一步地，在检测到车辆需要换道，并提示第一换道任务后，若检测到用户执行与车辆换道方向相同的拨动拨杆的操作，则控制车辆即刻变更至目标行驶车道；若检测到用户执行与车辆换道方向相反的拨动拨杆的操作，则控制车辆取消换道。
示例性地，该预设速度阈值可以为60公里/小时，或者也可以为65公里/小时，或者还可以为其他数值；该第二时长可以为2秒，或者也可以为3秒，或者还可以为其他数值。
表1换道模式及其对应的换道方式

在一些可能的实现方式中，在行驶速度低于预设速度阈值时，用户还可以通过方向盘上的确认按键(例如“OK”键、“Enter”键等)确认换道。示例性地，响应于用户按压确认按键的操作，控制车辆变更至目标行驶车道。并且在第五预设时长内，再次发起换道任务时，无需用户确认，可以直接控制车辆换道。示例性地，该第五预设时长可以为20秒，或者也可以为30秒，或者还可以为其他时长。
在一些可能的实现方式中，在通过HMI向用户提示换道任务时，还可以通过HMI向用户提供“确认换道”或“取消换道”的虚拟按键，响应于用户点击“确认换道”或“取消换道”的操作，控制车辆变更至目标行驶车道，或者取消换道。
示例性地，图5示出了在始终需要确认模式下，车辆换道过程中，车载显示屏显示的一组图形用户界面(graphical user interface，GUI)的示意图。如图5所示，车辆的仪表屏中显示区域501、显示区域502和显示区域503，其中，显示区域501中可以显示车辆的导航信息(例如，提示用户在前方2公里处右转以及预计行驶时长)。显示区域502可以显示通过传感器采集的数据生成的虚拟场景，该虚拟场景中包括自车以及自车周围的环境信息(例如，其他车辆的信息、车道线的信息等)。通过该虚拟场景可以辅助用户进行换道。显示区域503可以显示车辆当前的速度(例如，64公里/小时)、挡位信息(例如，当前自车处于D挡)、道路限速值(例如，100公里/小时)、道路最低行驶速度(例如，50公里/小时)、剩余电量(例如，80％)以及续航里程(例如，460公里)等。
以上图5中所示的显示区域502是以二维(two dimensional，2D)虚拟场景为例说明的，本申请实施例并不限于此。显示区域502中也可以显示三维(three dimensional，3D)虚拟场景，或者还可以显示其他虚拟场景。
如图5所示，自车当前处于始终需要确认模式，且位于车道1，在检测到自车需要变更至车道2(例如变更至车道2的位置1)时，提示换道任务，和/或用于确认换道或取消换道的方式。例如，可以通过扬声器或显示屏提示换道任务，如通过扬声器播报换道任务：“请变更至车道2”，或通过显示屏(如HMI或HUD)提示“请变更至车道2”。再例如，可以通过扬声器播报换道任务和用于确认换道或取消换道的方式，如510所示内容“请向下拨动拨杆确认变更至车道2，或向上拨动拨杆取消换道”；或者，还可以通过HUD显示520所示内容提示换道任务以及用于确认换道或取消换道的方式；或者，还可以通过仪表屏提示上述换道任务和换道内容。进一步地，若用户向下(与换道方向一致)拨动拨杆，则响应于用户的操作控制自车变更至车道2行驶；若用户向上(与换道方向相反)拨动拨杆，则响应于用户的操作取消换道。
图6示出了自车处于高速需要确认模式、行驶速度小于预设速度阈值(本申请实施例中以预设速度阈值为60公里/小时为例进行说明)，且需要自车由车道1变更至车道2时，车载显示屏显示的一组GUI的示意图。示例性地，如图6中的(a)所示，可以通过仪表屏显示601所示的换道任务以及用于确认换道或取消换道的方式：“即将变更至车道2行驶，向上拨动拨杆或顺时针轻转方向盘可以取消换道(2s)”，其中“(2s)”为倒计时秒数，该倒计时的总秒数可以为上述第一时长。若用户在倒计时秒数归零后未拨动拨杆或轻转方向盘，则控制自车变更至车道2，还可以通过如图6中的(b)所示的“即将换道，请注意安全”提示用户注意观察路况；若用户在倒计时秒数未归零时，向上(与换道方向相反) 拨动拨杆或顺时针(与换道方向相反)轻转方向盘，则响应于用户的操作，取消换道，控制自车继续在车道1行驶。或者，还可以通过扬声器或HUD提示上述换道任务和用于确认换道或取消换道的方式。示例性地，在自车行驶速度大于或等于60公里/小时时，提示换道任务和/或用于确认换道或取消换道的方式时的方法可以参考图5对应实施例。
图7示出了自车在行驶过程可能涉及的三种行驶场景(本申请实施例中以预设速度阈值为60公里/小时为例进行说明)，其中，(a)所示为自车由匝道汇入主路的场景；(b)所示为自车在限速50公里/小时的道路上行驶的过程中，换道超车的场景；(c)所示为自车在高速公路行驶时，需要换道驶入匝道的场景。应理解，前两种行驶场景中，自车行驶速度小于60公里/小时，后一种行驶场景中，自车行驶速度大于60公里/小时。
示例性地，自车处于智能发起模式时，处于图7中的(a)所示的行驶场景时，若检测到需要换道，可以无需用户确认是否换道，自动控制自车换道，在换道之前提示用户换道任务。如图8所示，在自车以44公里/小时的速度在车道1行驶时，需要向左汇入主路(如显示区域801所示，距离主路距离为455米)，此时在换道前，可以通过扬声器或仪表屏提示用户“即将换道，请注意安全”。
示例性地，自车处于智能发起模式时，处于图7中的(b)所示的行驶场景时，提示换道任务和/或用于确认换道或取消换道的方式时的方法可以参考图6对应实施例。
示例性地，自车处于智能发起模式时，处于图7中的(c)所示的行驶场景时，若检测到需要换道，提示换道任务时，可以通过图9所示GUI提示用户用于确认换道或取消换道的方式。如图9所示，在自车以74公里/小时的速度在车道1行驶时，需要向右经由车道2(如车道2的位置2)，以及车道3驶入匝道(如显示区域901所示，此时距离匝道口1公里)，可以通过扬声器或仪表屏提示用于确认换道或取消换道的方式：“顺时针轻转方向盘确认换道，逆时针轻转方向盘取消换道”。进一步地，响应于用户顺时针(与换道方向相同)轻转方向盘的操作，控制自车由车道1变更至车道2；或者，响应于用户逆时针(与换道方向相反)轻转方向盘的操作，取消换道操作。示例性地，在方向盘扭矩的绝对值大于第一扭矩阈值，且小于或等于第二扭矩阈值时，认为用户操作为“轻转方向盘”。
需要说明的是，图5至图9所示的GUI仅为示例性说明，在具体实现过程中，也可以仅提示换道任务，即提示“建议变更至车道2”，或提示“即将变更至车道2”，其中，车道2为目标行驶车道。
在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，各个实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
上文中结合图2至图9详细说明了本申请实施例提供的方法。下面将结合图10和图11详细说明本申请实施例提供的装置。应理解，装置实施例的描述与方法实施例的描述相互对应，因此，未详细描述的内容可以参见上文方法实施例，为了简洁，这里不再赘述。
图10示出了本申请实施例提供的换道装置1000的示意性框图，该装置1000包括第一确定单元1010、提示单元1020和处理单元1030。
该装置1000可以包括用于执行图3中的方法的单元。并且，该装置1000中的各单元和上述其他操作和/或功能分别为了实现图3中的方法实施例的相应流程。
其中，当该装置1000用于执行图3中的方法300时，第一确定单元1010可用于执行方法300中的S301，提示单元1020可用于执行方法300中的S302，处理单元1030可用于执行方法300中的S303。
具体地，该第一确定单元1010用于：根据第一指令从多个换道模式中确定第一换道模式，其中，该多个换道模式中每个换道模式下为智能驾驶设备的用户提供的换道方式不同；该提示单元1020用于：在该第一换道模式下，提示第一换道任务；该处理单元1030用于：根据该第一换道任务和该第一换道模式下为该用户提供的第一换道方式，控制该智能驾驶设备进行换道或取消换道。
可选地，该装置1000还包括第二确定单元，用于：根据该智能驾驶设备的行驶速度确定该第一换道方式；该处理单元1030用于：根据该第一换道任务以及该第一换道方式，响应于该用户的第一预设操作，控制该智能驾驶设备进行换道或取消换道。
可选地，在该行驶速度大于或等于第一预设速度阈值时，该第一预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者在该行驶速度小于该第一预设速度阈值时，该第一预设操作包括在第一时长内拨动拨杆、旋转方向盘、按动方向盘按键、以及无动作中的至少一个。
可选地，该装置1000还包括第三确定单元，用于：根据该智能驾驶设备的行驶速度和行驶场景确定该第一换道方式；该处理单元1030用于：根据该第一换道任务、该第一换道方式以及第一预设场景，控制该智能驾驶设备进行换道或取消换道；或者根据该第一换道任务以及该第一换道方式，响应于该用户的第二预设操作，控制该智能驾驶设备进行换道或取消换道。
可选地，在该行驶速度大于或等于第二预设速度阈值时，该第二预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者在该行驶速度小于该第二预设速度阈值，且行驶场景为第二预设场景时，该第二预设操作包括在第二时长内拨动拨杆、旋转方向盘、按动方向盘按键以及无动作中的至少一个。
可选地，该第一换道任务指示该智能驾驶设备由第一车道变更至第二车道，该第二预设操作为向第一方向拨动拨杆，或向该第一方向旋转方向盘时，该处理单元1030用于：响应于该第二预设操作，控制该智能驾驶设备取消换道；其中，该第一方向为与从该第一车道变更至该第二车道的方向相反的方向。
可选地，该处理单元1030控制该智能驾驶设备取消换道之后，该提示单元1020还用于：提示第二换道任务。
可选地，该第一换道任务指示该智能驾驶设备由第三车道变更至第四车道，该第二预设操作为在该第二时长内向第二方向拨动拨杆，或向该第二方向旋转方向盘时，该处理单元1030用于：响应于该第二预设操作，控制该智能驾驶设备由该第三车道变更至该第四车道；其中，该第二方向为与从该第三车道变更至该第四车道的方向相同的方向。
可选地，该处理单元1030还用于：在第三时长内，检测到该智能驾驶设备需要由该第四车道变更至第五车道时，控制该智能驾驶设备进行换道。
可选地，在该行驶速度小于该第二预设速度阈值时，该第一换道任务指示该智能驾驶设备由第六车道变更至第七车道，响应于该按动方向盘按键的操作，该处理单元1030控制该智能驾驶设备由该第六车道变更至该第七车道之后，该处理单元1030还用于：在第四时长内，检测到该智能驾驶设备需要由该第七车道变更至第八车道时，控制该智能驾驶设备进行换道。
示例性地，该装置1000可以设置在图2所示的换道模式选择及换道模式设计模块。
应理解，以上装置中各单元的划分仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。此外，装置中的单元可以以处理器调用软件的形式实现；例如装置包括处理器，处理器与存储器连接，存储器中存储有指令，处理器调用存储器中存储的指令，以实现以上任一种方法或实现该装置各单元的功能，其中处理器例如为通用处理器，例如CPU或微处理器，存储器为装置内的存储器或装置外的存储器。或者，装置中的单元可以以硬件电路的形式实现，可以通过对硬件电路的设计实现部分或全部单元的功能，该硬件电路可以理解为一个或多个处理器；例如，在一种实现中，该硬件电路为ASIC，通过对电路内元件逻辑关系的设计，实现以上部分或全部单元的功能；再如，在另一种实现中，该硬件电路为可以通过PLD实现，以FPGA为例，其可以包括大量逻辑门电路，通过配置文件来配置逻辑门电路之间的连接关系，从而实现以上部分或全部单元的功能。以上装置的所有单元可以全部通过处理器调用软件的形式实现，或全部通过硬件电路的形式实现，或部分通过处理器调用软件的形式实现，剩余部分通过硬件电路的形式实现。
在本申请实施例中，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如CPU、微处理器、GPU、或DSP等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为ASIC或PLD实现的硬件电路，例如FPGA。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如NPU、TPU、DPU等。
可见，以上装置中的各单元可以是被配置成实施以上方法的一个或多个处理器(或处理电路)，例如：CPU、GPU、NPU、TPU、DPU、微处理器、DSP、ASIC、FPGA，或这些处理器形式中至少两种的组合。
此外，以上装置中的各单元可以全部或部分可以集成在一起，或者可以独立实现。在一种实现中，这些单元集成在一起，以片上系统(system-on-a-chip，SOC)的形式实现。该SOC中可以包括至少一个处理器，用于实现以上任一种方法或实现该装置各单元的功能，该至少一个处理器的种类可以不同， 例如包括CPU和FPGA，CPU和人工智能处理器，CPU和GPU等。
在具体实现过程中，上述第一确定单元1010、提示单元1020和处理单元1030所执行的各项操作可以由同一个处理器执行，或者，也可以由不同的处理器执行，例如分别由多个处理器执行。在具体实现过程中，上述一个或多个处理器可以为设置在图1所示的计算平台150中的处理器，或者也可以为设置在云端服务器中的处理器。在具体实现过程中，上述装置1000可以为设置在智能驾驶设备100中的芯片。
图11是本申请实施例的一种换道装置的示意性框图。图11所示的换道装置1100可以包括：处理器1110、收发器1120以及存储器1130。其中，处理器1110、收发器1120以及存储器1130通过内部连接通路相连，该存储器1130用于存储指令，该处理器1110用于执行该存储器1130存储的指令，以收发器1120接收/发送部分参数。可选地，存储器1130既可以和处理器1110通过接口耦合，也可以和处理器1110集成在一起。
需要说明的是，上述收发器1120可以包括但不限于输入/输出接口(input/output interface)一类的收发装置，来实现装置1100与其他设备或通信网络之间的通信。
存储器1130可以是只读存储器(read only memory，ROM)，静态存储设备，动态存储设备或者随机存取存储器(random access memory，RAM)。
收发器1120使用例如但不限于收发器一类的收发装置，来实现装置1100与其他设备或通信网络之间的通信。
在一些可能的实现方式中，该装置1100可以设置于图1所示的计算平台150中，或者也可以设置在图2所示的换道模式选择及换道方式设计模块中。
本申请实施例还提供一种智能驾驶设备，该智能驾驶设备可以包括上述装置1000，或者上述装置1100。
在一些可能的实现方式中，该智能驾驶设备可以为车辆。
本申请实施例还提供一种计算机程序产品，该计算机程序产品包括计算机程序代码，当计算机程序代码在计算机上运行时，使得计算机实现本申请实施例中的方法。
本申请实施例还提供一种计算机可读存储介质，该计算机可读介质存储有计算机指令，当计算机指令在计算机上运行时，使得计算机实现本申请实施例中的方法。
本申请实施例还提供一种芯片，包括电路，用于执行本申请实施例中的方法。
在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。结合本申请实施例所公开的方法可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者上电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。为避免重复，这里不再详细描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独 物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (24)

  1. 一种换道方法，其特征在于，包括：
    根据第一指令从多个换道模式中确定第一换道模式，其中，所述多个换道模式中每个换道模式下为智能驾驶设备的用户提供的换道方式不同；
    在所述第一换道模式下，提示第一换道任务；
    根据所述第一换道任务和所述第一换道模式下为所述用户提供的第一换道方式，控制所述智能驾驶设备进行换道或取消换道。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    根据所述智能驾驶设备的行驶速度确定所述第一换道方式；
    所述根据所述第一换道任务和所述第一换道模式下为所述用户提供的第一换道方式，控制所述智能驾驶设备进行换道或取消换道，包括：
    根据所述第一换道任务以及所述第一换道方式，响应于所述用户的第一预设操作，控制所述智能驾驶设备进行换道或取消换道。
  3. 根据权利要求2所述的方法，其特征在于，在所述行驶速度大于或等于第一预设速度阈值时，所述第一预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者
    在所述行驶速度小于所述第一预设速度阈值时，所述第一预设操作包括在第一时长内拨动拨杆、旋转方向盘、按动方向盘按键、以及无动作中的至少一个。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    根据所述智能驾驶设备的行驶速度和行驶场景确定所述第一换道方式；
    所述根据所述第一换道任务和所述第一换道模式下为所述用户提供的第一换道方式，控制所述智能驾驶设备进行换道或取消换道，包括：
    根据所述第一换道任务、所述第一换道方式以及第一预设场景，控制所述智能驾驶设备进行换道或取消换道；或者
    根据所述第一换道任务以及所述第一换道方式，响应于所述用户的第二预设操作，控制所述智能驾驶设备进行换道或取消换道。
  5. 根据权利要求4所述的方法，其特征在于，在所述行驶速度大于或等于第二预设速度阈值时，所述第二预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者
    在所述行驶速度小于所述第二预设速度阈值，且行驶场景为第二预设场景时，所述第二预设操作包括在第二时长内拨动拨杆、旋转方向盘、按动方向盘按键以及无动作中的至少一个。
  6. 根据权利要求5所述的方法，其特征在于，所述第一换道任务指示所述智能驾驶设备由第一车道变更至第二车道，所述第二预设操作为向第一方向拨动拨杆，或向所述第一方向旋转方向盘时，所述控制所述智能驾驶设备进行换道或取消换道，包括：
    响应于所述第二预设操作，控制所述智能驾驶设备取消换道；
    其中，所述第一方向为与从所述第一车道变更至所述第二车道的方向相反的方向。
  7. 根据权利要求6所述的方法，其特征在于，所述控制所述智能驾驶设备取消换道之后，所述方法还包括：
    提示第二换道任务。
  8. 根据权利要求5所述的方法，其特征在于，所述第一换道任务指示所述智能驾驶设备由第三车道变更至第四车道，所述第二预设操作为在所述第二时长内向第二方向拨动拨杆，或向所述第二方向旋转方向盘时，所述控制智能驾驶设备进行换道或取消换道，包括：
    响应于所述第二预设操作，控制所述智能驾驶设备由所述第三车道变更至所述第四车道；
    其中，所述第二方向为与从所述第三车道变更至所述第四车道的方向相同的方向。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    在第三时长内，检测到所述智能驾驶设备需要由所述第四车道变更至第五车道时，控制所述智能驾驶设备进行换道。
  10. 根据权利要求5至9中任一项所述的方法，其特征在于，在所述行驶速度小于所述第二预设速度阈值时，所述第一换道任务指示所述智能驾驶设备由第六车道变更至第七车道，响应于所述按动方向盘按键的操作，控制所述智能驾驶设备由所述第六车道变更至所述第七车道之后，所述方法还包括：
    在第四时长内，检测到所述智能驾驶设备需要由所述第七车道变更至第八车道时，控制所述智能驾驶设备进行换道。
  11. 一种换道装置，其特征在于，包括第一确定单元、提示单元和处理单元，其中，
    所述第一确定单元用于：根据第一指令从多个换道模式中确定第一换道模式，其中，所述多个换道模式中每个换道模式下为智能驾驶设备的用户提供的换道方式不同；
    所述提示单元用于：在所述第一换道模式下，提示第一换道任务；
    所述处理单元用于：根据所述第一换道任务和所述第一换道模式下为所述用户提供的第一换道方式，控制所述智能驾驶设备进行换道或取消换道。
  12. 根据权利要求11所述的装置，其特征在于，所述装置还包括第二确定单元，用于：根据所述智能驾驶设备的行驶速度确定所述第一换道方式；
    所述处理单元用于：根据所述第一换道任务以及所述第一换道方式，响应于所述用户的第一预设操作，控制所述智能驾驶设备进行换道或取消换道。
  13. 根据权利要求12所述的装置，其特征在于，在所述行驶速度大于或等于第一预设速度阈值时，所述第一预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者
    在所述行驶速度小于所述第一预设速度阈值时，所述第一预设操作包括在第一时长内拨动拨杆、旋转方向盘、按动方向盘按键、以及无动作中的至少一个。
  14. 根据权利要求11所述的装置，其特征在于，所述装置还包括第三确定单元，用于：根据所述智能驾驶设备的行驶速度和行驶场景确定所述第一换道方式；
    所述处理单元用于：
    根据所述第一换道任务、所述第一换道方式以及第一预设场景，控制所述智能驾驶设备进行换道或取消换道；或者
    根据所述第一换道任务以及所述第一换道方式，响应于所述用户的第二预设操作，控制所述智能驾驶设备进行换道或取消换道。
  15. 根据权利要求14所述的装置，其特征在于，在所述行驶速度大于或等于第二预设速度阈值时，所述第二预设操作包括拨动拨杆，旋转方向盘中的至少一个；或者
    在所述行驶速度小于所述第二预设速度阈值，且行驶场景为第二预设场景时，所述第二预设操作包括在第二时长内拨动拨杆、旋转方向盘、按动方向盘按键以及无动作中的至少一个。
  16. 根据权利要求15所述的装置，其特征在于，所述第一换道任务指示所述智能驾驶设备由第一车道变更至第二车道，所述第二预设操作为向第一方向拨动拨杆，或向所述第一方向旋转方向盘时，所述处理单元用于：
    响应于所述第二预设操作，控制所述智能驾驶设备取消换道；
    其中，所述第一方向为与从所述第一车道变更至所述第二车道的方向相反的方向。
  17. 根据权利要求16所述的装置，其特征在于，所述处理单元控制所述智能驾驶设备取消换道之后，所述提示单元还用于：
    提示第二换道任务。
  18. 根据权利要求15所述的装置，其特征在于，所述第一换道任务指示所述智能驾驶设备由第三车道变更至第四车道，所述第二预设操作为在所述第二时长内向第二方向拨动拨杆，或向所述第二方向旋转方向盘时，所述处理单元用于：
    响应于所述第二预设操作，控制所述智能驾驶设备由所述第三车道变更至所述第四车道；
    其中，所述第二方向为与从所述第三车道变更至所述第四车道的方向相同的方向。
  19. 根据权利要求18所述的装置，其特征在于，所述处理单元还用于：
    在第三时长内，检测到所述智能驾驶设备需要由所述第四车道变更至第五车道时，控制所述智能驾驶设备进行换道。
  20. 根据权利要求15至19中任一项所述的装置，其特征在于，在所述行驶速度小于所述第二预设速度阈值时，所述第一换道任务指示所述智能驾驶设备由第六车道变更至第七车道，响应于所述按动方向盘按键的操作，所述处理单元控制所述智能驾驶设备由所述第六车道变更至所述第七车道之后，所述处理单元还用于：
    在第四时长内，检测到所述智能驾驶设备需要由所述第七车道变更至第八车道时，控制所述智能驾驶设备进行换道。
  21. 一种换道装置，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述存储器中存储的计算机程序，以使得所述装置执行如权利要求1至10中任一项所述的方法。
  22. 一种智能驾驶设备，其特征在于，包括如权利要求11至21中任一项所述的装置。
  23. 一种计算机可读存储介质，其特征在于，其上存储有指令，所述指令被处理器执行时，以使得处理器实现如权利要求1至10中任一项所述的方法。
  24. 一种芯片，其特征在于，所述芯片包括电路，所述电路用于执行如权利要求1至10中任一项所述的方法。
PCT/CN2023/103838 2022-10-21 2023-06-29 换道方法、装置和智能驾驶设备 WO2024082701A1 (zh)

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