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Vehicle lane changing method and device, equipment and storage medium

A vehicle and lane technology, applied in the field of vehicles, can solve problems such as the inability to provide reliable support for the automatic lane changing technology of vehicles, the inability to accurately perceive the surrounding environment of the vehicle, and the inability to take into account the needs of perceiving the environment, so as to improve driving efficiency and reduce frequent operations. , the effect of improving accuracy and reliability

Pending Publication Date: 2021-01-05
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Under the existing L3 autonomous driving technology framework, the single-lane autonomous driving perception is mainly considered, and it is impossible to accurately perceive the surrounding environment of the vehicle, especially the requirements for sensing the environment on both sides and rear of the vehicle, so that it cannot provide for the automatic lane change technology of the vehicle. reliable support
At the same time, the existing automatic lane-changing methods of vehicles are mainly divided into the following two types. One is based on user-instructed lane-changing requests. The driver judges the safety around the system and the timing of lane-changing at any time, and the system is responsible for lane-changing execution. The usability is not high, and the pain point of freeing hands cannot be solved; the second is to realize the traffic conditions based on the lane where the vehicle is located or the lane change based on the planned road, which cannot completely solve the demands of frequent lane changes from the original intention of the autonomous lane change design scene

Method used

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

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0046] figure 1 It is a flow chart of a vehicle lane change method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the vehicle autonomously changes lanes on all navigation sections. This method can be implemented by the vehicle lane change device in the embodiment of the present invention. implementation, the device can be implemented in software and / or hardware, such asfigure 1 As shown, the method specifically includes the following steps:

[0047] S110. Obtain the current driving state of the vehicle, the current position of the vehicle, and the current speed of the vehicle.

[0048] Wherein, the driving state of the current vehicle refers to whether the current vehicle is in an automatic driving state or a non-automatic driving state; the current vehicle position refers to the positioning information of the current vehicle; the current vehicle speed refers to the actual speed of the current vehicle.

[0049] Specific...

Embodiment 2

[0060] figure 2 It is a flow chart of a vehicle lane change method in Embodiment 2 of the present invention. This embodiment is optimized based on the above embodiments. In this embodiment, according to the position of the current vehicle and the position of the current vehicle Generating a lane-changing instruction at a speed of the current vehicle includes: if the distance between the current vehicle position and the navigation planning road node is greater than a distance threshold, generating a lane-changing instruction according to the current vehicle speed and the current vehicle position.

[0061] Such as figure 2 As shown, the method of this embodiment specifically includes the following steps:

[0062] S210. Obtain the current driving state of the vehicle, the current position of the vehicle, and the current speed of the vehicle.

[0063] S220, if the current vehicle is in the automatic driving state and the speed of the current vehicle is greater than or equal to...

Embodiment 3

[0094] image 3 It is a schematic structural diagram of a vehicle lane changing device provided in Embodiment 3 of the present invention. This embodiment can be applied to the situation where the vehicle changes lanes, the device can be implemented in software and / or hardware, and the device can be integrated in any device that provides the function of vehicle lane change, such as image 3 As shown, the vehicle lane changing device specifically includes: an acquisition module 310 , an instruction generation module 320 and a control module 330 .

[0095] Wherein, the obtaining module 310 is used to obtain the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle;

[0096]An instruction generation module 320, configured to generate a lane change instruction according to the position of the current vehicle and the speed of the current vehicle if the current vehicle is in an automatic driving state and the speed of the curr...

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Abstract

The invention discloses a vehicle lane changing method and device, equipment and a storage medium. The method comprises the steps of acquiring the driving state of a current vehicle, the position of the current vehicle and the speed of the current vehicle; if the current vehicle is in the automatic driving state and the speed of the current vehicle is larger than or equal to a first speed threshold value, generating a lane changing instruction according to the position of the current vehicle and the speed of the current vehicle; and controlling the current vehicle to change lanes according tothe lane changing instruction. By means of the method, on the premise of automatic driving of the vehicle, the autonomous lane changing function, the automatic lane changing scene judgment function, the seamless switching automatic driving function and the autonomous lane changing function based on automatic driving navigation guiding can be achieved, and the automatic driving vehicle can run to adestination with the maximum driving efficiency.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of vehicles, and in particular to a vehicle lane changing method, device, equipment and storage medium. Background technique [0002] With the iterative improvement of automotive electronics and hardware and software technology, self-driving cars are becoming more and more intelligent. For a long time, frequent traffic accidents have been caused by the driver's lack of awareness of the surrounding environment when changing lanes. How to realize automatic lane changes to reduce traffic accidents and improve driving safety has undoubtedly become a difficult problem and challenge for autonomous vehicle driving. [0003] Generally speaking, self-driving vehicles can be divided into six levels, among which level-one and level-two automatic driving systems are intelligently classified as driving assistance devices, while systems above level three (L3) can achieve conditional automatic driving...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60W60/00
CPCB60W30/18163B60W60/001
Inventor 陈丹丹孙连明厉健峰崔茂源
Owner CHINA FIRST AUTOMOBILE