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Vehicle lane changing method and device, equipment and storage medium

A technology of lanes and vehicles, applied in the field of autonomous driving, to achieve the effect of solving detours and/or long-term driving in dangerous sections

Active Publication Date: 2021-08-17
JINGDONG KUNPENG (JIANGSU) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a vehicle lane changing method, device, equipment and storage medium, which solves the problem of vehicles detouring due to road closures and / or driving on dangerous road sections for a long time

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

[0037] figure 2 It is a flow chart of a vehicle lane changing method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of providing a vehicle driving path that allows the target vehicle to change lanes when encountering a road block. The method can be executed by the vehicle lane changing device provided in the embodiment of the present invention, the device can be realized by software and / or hardware, and the device can be integrated on the vehicle lane changing device, which can be various user terminals or servers .

[0038] see figure 2 , the method of the embodiment of the present invention specifically includes the following steps:

[0039] S110. Construct a topological relationship according to the target map associated with the vehicle driving task of the target vehicle, and perform a path search according to the topological relationship and the vehicle driving task to obtain the vehicle driving path, wherein the top...

Embodiment 2

[0050] Figure 4 It is a flow chart of a vehicle lane changing method provided in Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above-mentioned technical solutions. In this embodiment, optionally, determining the vehicle lane change path according to the adjacent lanes to be changed may include: for each lane to be changed in the adjacent lanes to be changed, from the target map Determine the lane connection path connected to the lane to be changed, and determine the candidate lane change path of the lane to be changed according to the lane to be changed and the lane connection path; determine the vehicle changeover path according to the candidate lane change paths of adjacent lanes to be changed road path. Wherein, explanations of terms that are the same as or corresponding to the above embodiments are not repeated here.

[0051] see Figure 4 , the method of this embodiment may specifically include the following steps:

[0052] ...

Embodiment 3

[0064] Figure 6 It is a flow chart of a vehicle lane changing method provided in Embodiment 3 of the present invention. This embodiment is optimized on the basis of the above-mentioned technical solutions. In this embodiment, optionally, performing a path search according to the topological relationship and the vehicle driving task may include: obtaining the preset vehicle lane change cost when the target vehicle changes from a non-motorized lane to a motorized lane, and according to the topological relationship , vehicle driving task and vehicle lane change cost for path search; wherein, the vehicle lane change cost is determined according to the preset minimum length and weight difference, and the weight difference includes the weight assignment between the weight assignment of motor vehicle lanes and the weight assignment of non-motor vehicle lanes difference, the weight assignment of the motor vehicle lane is greater than the weight assignment of the non-motor vehicle la...

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PUM

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Abstract

The embodiment of the invention discloses a vehicle lane changing method and device, equipment and a storage medium. The method comprises the steps: building a topological relation according to a target map associated with a vehicle driving task of a target vehicle, and performing path searching according to the topological relation and the vehicle driving task to obtain a vehicle driving path, wherein the topological relation comprises a two-way connection relation between adjacent map lanes in the same direction in the target map; determining adjacent to-be-changed lanes from the vehicle driving lanes of the vehicle driving path, and determining a vehicle lane changing path according to the adjacent to-be-changed lanes; and adjusting the vehicle driving path according to the vehicle lane changing path, so that the target vehicle changes the lane when driving to the vehicle lane changing path according to the adjusted vehicle driving path. According to the technical scheme provided by the embodiment of the invention, the target vehicle bypasses the sealed lane in a lane changing manner when encountering road closure, so that the problem of bypassing and / or long-term driving in a dangerous lane section caused by road closure is solved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of automatic driving, and in particular to a vehicle lane changing method, device, equipment and storage medium. Background technique [0002] With the rapid development of computer technology, autonomous driving has received widespread attention. For unmanned delivery vehicles in the field of autonomous driving technology, they need to drive on non-motorized lanes as much as possible to ensure driving safety. However, on non-motorized lanes, road closures (that is, inability to drive) often occur due to long-term parking by motor vehicles, occupation of roads, repairs, etc. At this time, it is necessary to avoid these lanes from the vehicle navigation level to complete vehicle driving. Task. [0003] In the process of realizing the present invention, the inventors found the following technical problems in the prior art: the existing vehicle navigation scheme may cause the vehicle...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00B60W30/18G01C21/34G01C21/36
CPCB60W60/001B60W30/18163G01C21/3461G01C21/3658B60W2556/40
Inventor 王浩然张亮亮
Owner JINGDONG KUNPENG (JIANGSU) TECH CO LTD