Vehicle Lane Changing Simulation Method, Device, Electronic Device and Storage Medium

Abstract

The present application discloses a vehicle lane change simulation method, device, electronic device and storage medium, which are applied to the field of autonomous driving. The method includes: controlling a target simulation vehicle to travel along the center line of a first simulation lane; based on the lateral driving parameters and longitudinal driving parameters during the lane change driving process, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision area of the first simulation lane; the second simulation lane is a lane adjacent to the first simulation lane in the lane change direction; based on the lateral driving parameters and longitudinal driving parameters during the lane change driving process, controlling the target simulation vehicle to change lanes from the boundary line of the decision area of the first simulation lane to the center line of the second simulation lane. This method improves the authenticity and accuracy of the lane change simulation results.

Description

Technical Field

[0001] This application relates to the field of autonomous driving simulation technology, and more specifically, to a vehicle lane-changing simulation method, device, electronic device, and storage medium. Background Art

[0002] Nowadays, with the increasing development of artificial intelligence, the application of artificial intelligence technology in life is becoming more and more extensive, including its application in autonomous driving technology. Among them, traffic simulation is an important research stage before the implementation of autonomous driving technology. At present, in traffic simulation technology, the considered driving scenarios are relatively simple, so that the traffic simulation results cannot accurately reflect the real traffic situation. Summary of the Invention

[0003] In view of the above problems, embodiments of this application propose a vehicle lane-changing simulation method, device, electronic device, and storage medium to improve the above problems.

[0004] In a first aspect, an embodiment of this application provides a vehicle lane-changing simulation method, the method including: controlling a target simulation vehicle to travel on the center line of a first simulation lane; based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision area of the first simulation lane; wherein, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision area of the first simulation lane is executed when the position of the target simulation vehicle is in the decision area of the first simulation lane and the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle satisfies the safety distance condition; the decision area of the first simulation lane is an area with a first distance along the lane-changing direction starting from the center line of the first simulation lane, and the first distance is less than the distance between the center line of the first simulation lane and the center line of the second simulation lane; the second simulation lane is the lane adjacent to the first simulation lane in the lane-changing direction; based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process, controlling the target simulation vehicle to change lanes from the boundary line of the decision area of the first simulation lane to the center line of the second simulation lane.

[0005] Second aspect, an embodiment of the present application provides a vehicle lane change simulation device, which includes: a first control module, a second control module, and a third control module. Among them, the first control module is used to control the target simulation vehicle to travel along the center line of the first simulation lane; the second control module is used to control the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision-making area of the first simulation lane based on the lateral driving parameters and longitudinal driving parameters during the lane change driving process; wherein, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision-making area of the first simulation lane is executed when the position of the target simulation vehicle is in the decision-making area of the first simulation lane and the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle meets the safety distance condition; the decision-making area of the first simulation lane is an area starting from the center line of the first simulation lane and having a first distance along the lane change direction, and the first distance is less than the distance between the center line of the first simulation lane and the center line of the second simulation lane; the second simulation lane is a lane adjacent to the first simulation lane in the lane change direction; the third control module is used to control the target simulation vehicle to change lanes from the boundary line of the decision-making area of the first simulation lane to the center line of the second simulation lane based on the lateral driving parameters and longitudinal driving parameters during the lane change driving process.

[0006] Third aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory; one or more programs are stored in the memory and are configured to be executed by the processor to implement the above method.

[0007] Fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which program code is stored. When the program code is run by a processor, the above method is executed.

[0008] Fifth aspect, an embodiment of the present application provides a computer program product or a computer program, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above method.

[0009] A vehicle lane change simulation method, device, electronic device and storage medium provided by an embodiment of the present application, during the process of controlling a target simulation vehicle to change lanes (sequentially changing lanes from the center line of the first simulation lane to the boundary line of the decision area of the first simulation lane and the center line of the second simulation lane), by introducing a decision area to determine whether the target simulation vehicle is affected by the following vehicle on the second simulation lane, thereby controlling the lane change driving process of the target simulation vehicle, so that the lane change simulation behavior of the target simulation vehicle controlled based on the lateral driving parameters and longitudinal driving parameters during the lane change driving process can be closer to the lane change behavior in the real traffic scenario, and the authenticity and accuracy of the lane change simulation result are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0011] Figure 1 FIG. shows a schematic diagram of a vehicle traffic simulation platform proposed by an embodiment of the present application;

[0012] Figure 2 FIG. shows a schematic diagram of a road in a vehicle lane change simulation scenario proposed by an embodiment of the present application;

[0013] Figure 3 FIG. shows a flowchart of a vehicle lane change simulation method proposed by an embodiment of the present application;

[0014] Figure 4 FIG. shows a schematic diagram of the driving of a simulation vehicle proposed by an embodiment of the present application;

[0015] Figure 5 FIG. shows another schematic diagram of a road in a vehicle lane change simulation scenario proposed by an embodiment of the present application;

[0016] Figure 6 FIG. shows a flowchart of an implementation manner for determining the lateral driving parameters during the lane change driving process in a vehicle lane change simulation method proposed by an embodiment of the present application;

[0017] Figure 7 FIG. shows a schematic diagram of a lateral acceleration curve changing with time during the lane change driving process proposed by an embodiment of the present application;

[0018] Figure 8 FIG. shows a schematic diagram of a lateral speed curve changing with time during the lane change driving process proposed by an embodiment of the present application;

[0019] Figure 9 Shows a schematic diagram of the lateral position curve changing with time during lane-changing driving proposed by an embodiment of the present application;

[0020] Figure 10 Shows a flowchart of a vehicle lane-changing simulation trajectory proposed by an embodiment of the present application;

[0021] Figure 11 Shows a flowchart of another vehicle lane-changing simulation method proposed by an embodiment of the present application;

[0022] Figure 12 Shows Figure 11 A flowchart of an implementation manner of S250 in a vehicle lane-changing simulation method proposed by the shown embodiment;

[0023] Figure 13 Shows Figure 11 A flowchart of an implementation manner of S250 in a vehicle lane-changing simulation method proposed by the shown embodiment;

[0024] Figure 14 Shows a flowchart of another vehicle lane-changing simulation trajectory proposed by an embodiment of the present application;

[0025] Figure 15 Shows a flowchart of another vehicle lane-changing simulation trajectory proposed by an embodiment of the present application;

[0026] Figure 16 Shows a flowchart of another vehicle lane-changing simulation method proposed by an embodiment of the present application;

[0027] Figure 17 Shows a flowchart of the lateral process in a vehicle lane-changing simulation method proposed by an embodiment of the present application;

[0028] Figure 18 Shows a flowchart of the longitudinal process in a vehicle lane-changing simulation method proposed by an embodiment of the present application;

[0029] Figure 19 Shows a block diagram of a vehicle lane-changing simulation device proposed by an embodiment of the present application;

[0030] Figure 20 Shows a block diagram of an electronic device for executing the vehicle lane-changing simulation method according to an embodiment of the present application. Specific embodiments

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0032] Artificial Intelligence (AI) is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a way similar to human intelligence. Artificial intelligence also studies the design principles and implementation methods of various intelligent machines to enable the machines to have the functions of perception, reasoning, and decision-making.

[0033] Artificial intelligence technology is an interdisciplinary subject with a wide range of fields, including both hardware-level technologies and software-level technologies. Artificial intelligence basic technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, and mechatronics. Artificial intelligence software technologies mainly include several major directions such as computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0034] With the research and progress of artificial intelligence technology, artificial intelligence technology has been studied and applied in multiple fields. For example, common ones include smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, driverless, autonomous driving, drones, robots, intelligent healthcare, intelligent customer service, intelligent video services, etc. With the development of technology, artificial intelligence technology will be applied in more fields and play an increasingly important role.

[0035] Autonomous driving technology usually includes technologies such as high-precision maps, environmental perception, behavior decision-making, path planning, and motion control. Autonomous driving technology has a wide range of application prospects. The development of autonomous driving systems all requires a process from simulation to real vehicle testing. As a zero-risk, fast-iterative, and reproducible testing method, traffic simulation experiments based on autonomous driving simulation systems have laid a solid foundation for autonomous driving technology to go on the road.

[0036] Road traffic simulation is an important tool for studying complex traffic problems, especially when a system is too complex to be described by a simple abstract mathematical model. Traffic simulation can clearly assist in analyzing and predicting the location and causes of traffic jams, and compare and evaluate relevant plans for urban planning, traffic engineering, and traffic management, so as to avoid or prepare for problems before they become a reality. In summary, traffic simulation technology is a simulation model technology that uses simulation hardware and simulation software to reflect system behavior or processes through simulation experiments, with the help of certain numerical calculations and problem solving.

[0037] In traffic simulation, vehicle lane changing simulation is an important simulation scenario. However, the current lane changing simulation considers relatively simple driving scenarios.

[0038] For example, in existing traffic simulations, when a vehicle performs lane change simulation, the center line of the lane or the lane dividing line is generally used as a reference condition for simulating the lane change strategy in the vehicle lane change simulation. However, the reference condition is too standardized.

[0039] In view of this, the inventor proposed the vehicle lane changing simulation method, device, electronic device and storage medium provided in the present application. In the method, the target simulated vehicle is first controlled to change lanes from the center line of the first simulated lane, and then based on the lateral driving parameters and longitudinal driving parameters during the lane changing process, the target simulated vehicle is controlled to change lanes from the center line of the first simulated lane to the boundary line of the decision area of ​​the first simulated lane, and then the target simulated vehicle is controlled to change lanes from the boundary line of the decision area of ​​the first simulated lane to the center line of the second simulated lane.

[0040] In the above-mentioned method, in the process of controlling the lane changing of the target simulated vehicle, a decision area is introduced to determine whether the target simulated vehicle is affected by the following vehicle on the second simulated lane, thereby controlling the lane changing process of the target simulated vehicle, so that the lane changing simulation behavior of the target simulated vehicle controlled based on the lateral driving parameters and the longitudinal driving parameters during the lane changing process is closer to the lane changing behavior in the real traffic scene. Compared with the related simulation technology that only considers simple parameters such as the lane center line or the lane dividing line, the authenticity and accuracy of the lane changing simulation results are improved.

[0041] Before further describing the embodiments of the present application in detail, an application environment involved in the embodiments of the present application is introduced.

[0042] like Figure 1 As shown, Figure 1 1 is a schematic diagram of a vehicle traffic simulation platform according to an exemplary embodiment. The vehicle traffic simulation platform is applied to a computer device 10 , which may include a database 11 , simulation software 12 , and a simulation result display window 13 .

[0043] In a possible implementation, the simulation software 12 is a microscopic traffic simulation software, which may include, but is not limited to, simulation software that requires network connection or simulation software that does not require network connection. It can be understood that traffic simulation is divided into macroscopic simulation, mesoscopic simulation, and microscopic simulation according to the accuracy and scope of the simulation. Among them, microscopic traffic simulation takes the behavior of individual vehicles as the research object and describes the simulation of the state of each vehicle in the traffic system.

[0044] For example, the simulation software 12 can be an autonomous driving simulation platform.

[0045] Among them, the logical algorithm involved in the vehicle lane-changing simulation method is embedded in the simulation software 12 to enable the simulation software to control the simulation vehicle to change lanes according to the logical algorithm.

[0046] Among them, the simulation vehicle information, simulation road information, and simulation driver attribute information corresponding to each simulation vehicle can be stored in the database 11. Among them, the simulation vehicle information, simulation road information, and simulation driver attribute information corresponding to each simulation vehicle can be simulation data, or they can also be actual data collected from the actual road by the data collection device and stored in the database 11.

[0047] The simulation result display window 13 can display the simulation results in text form, or it can also simulate the simulation results in animation form for display.

[0048] Among them, the lane-changing simulation scenario road can be Figure 1 displayed in the simulation result display window 13 in

[0049] The road in the vehicle lane-changing simulation scenario includes at least two simulation lanes. Such as Figure 2As shown, taking three simulation lanes as an example to introduce the vehicle lane-changing scenario. The three simulation lanes are simulation lane 21, simulation lane 22, and simulation lane 23 respectively. Each simulation lane shows the corresponding lane center line, that is, center line 21` is the lane center line of simulation lane 21, center line 22` is the lane center line of simulation lane 22, and center line 23` is the lane center line of simulation lane 23. In addition, lane dividing lines are shown between two adjacent simulation lanes, that is, lane dividing line 20 between simulation lane 21 and simulation lane 22, and lane dividing line 40 between simulation lane 22 and simulation lane 23. Among them, the simulation vehicle A located in simulation lane 21 can perform lane-changing simulations between adjacent simulation lanes, that is, the simulation vehicle A changes lanes from simulation lane 21 to simulation lane 22. At this time, simulation lane 22 is the target simulation lane. In addition, the simulation vehicle A located in simulation lane 21 can also perform cross-lane lane-changing simulations, that is, the simulation vehicle A starts to change lanes from simulation lane 21, crosses simulation lane 22, and finally changes lanes to simulation lane 23. At this time, simulation lane 23 is the target simulation lane. In addition, the number of the above simulation lanes being three is just an exemplary scenario. In actual simulations, the number of simulation lanes can also be other numbers, such as 4, 5, or even more. In this case, the simulation vehicle can cross more than one simulation lane to perform lane-changing simulations.

[0050] The following will specifically describe the embodiments of the present application in conjunction with the accompanying drawings.

[0051] Please refer to Figure 3 , Figure 3 shown is a flowchart of a vehicle lane-changing simulation method proposed in an embodiment of the present application. This method can be executed by a computer device. Among them, the computer device can be the above-mentioned Figure 1 shown computer device 10. This method includes:

[0052] S110, controlling the target simulation vehicle to travel on the center line of the first simulation lane.

[0053] Among them, the target simulation vehicle can be understood as the simulation vehicle that will perform lane-changing simulations among multiple simulation vehicles of the simulation software.

[0054] The first simulation lane can be understood as the simulation lane where the target simulation vehicle is located before changing lanes in the simulation environment. Therefore, in this embodiment, in order to control the target simulation vehicle to change lanes, before the target simulation vehicle changes lanes, the target simulation vehicle can be controlled to first travel on the center line of the first simulation lane. Refer to Figure 4 , in Figure 4In it, two simulation lanes are shown, namely simulation lane 31 and simulation lane 32. The lane center line 31` is shown in simulation lane 31, and the lane center line 32` is shown in simulation lane 32. A lane separator 30 is shown between simulation lane 31 and simulation lane 32. As Figure 4 shown, the computer device can control the target simulation vehicle B to travel along the center line 31` of the first simulation lane.

[0055] It can be understood that whether in the actual environment or in the simulation environment, a vehicle occupies a certain width and length. Therefore, in order to accurately simulate vehicle lane change, a reference point of the simulation vehicle can be selected to assist in positioning the position of the simulation vehicle, so as to accurately quantify the driving parameters during the driving process of the simulation vehicle. Thus, the target simulation vehicle traveling along the center line of the first simulation lane can also be understood as the reference point of the target simulation vehicle traveling along the center line of the first simulation lane.

[0056] Optionally, the position of the target simulation vehicle can be the position where the centroid of the target simulation vehicle is located or the geometric center is located, that is, the position where the centroid of the target simulation vehicle is located or the geometric center is located is used as the reference point of the target simulation vehicle. In addition, it can be understood that in the embodiments of the present application, the driving parameters of the simulation vehicle in the height direction are not considered. Therefore, in some embodiments, the position of the target simulation vehicle can also be the position where the centroid of the target simulation vehicle is located or the position where the geometric center is located projected vertically onto the ground of the simulation lane.

[0057] S120, based on the lateral driving parameters and longitudinal driving parameters during the lane change driving process, control the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision area of the first simulation lane.

[0058] Among them, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision area of the first simulation lane is executed when the position of the target simulation vehicle is in the decision area of the first simulation lane and the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle meets the safety distance condition; the decision area of the first simulation lane is the area starting from the center line of the first simulation lane and along the lane change direction for a first distance, and the first distance is less than the distance between the center line of the first simulation lane and the center line of the second simulation lane; the second simulation lane is the lane adjacent to the first simulation lane in the lane change direction.

[0059] In this embodiment, when the target simulation vehicle needs to change lanes, the computer device can first control the target simulation vehicle to start changing lanes from the center line of the first simulation lane.

[0060] When the position of the target simulation vehicle is within the decision-making area of the first simulation lane, the target simulation vehicle will be affected by the following vehicle in the second simulation lane. At this time, it is necessary to check whether the longitudinal distance between the following vehicle in the second simulation lane and the target simulation vehicle meets the safety distance condition. If the safety distance condition is always met within the decision-making area of the first simulation lane, it indicates that the target simulation vehicle can change lanes within the decision-making area of the first simulation lane, that is, the first simulation vehicle can change lanes from the center line of the first simulation lane to the boundary line of the decision-making area of the first simulation lane.

[0061] Among them, the lane-changing requirement of the target simulation vehicle can include a forced lane-changing requirement and a free lane-changing requirement.

[0062] The forced lane-changing requirement means that in the simulation environment, the target simulation vehicle must perform a lane-changing behavior to complete its normal driving purpose, such as driving along a specified path. Specifically, for example, in the simulation environment, when the target simulation vehicle is driving in the leftmost lane of the simulation highway and needs to drive out of the simulation highway from the simulation ramp adjacent to the rightmost lane of the simulation highway, the target simulation vehicle has a forced lane-changing requirement.

[0063] The free lane-changing requirement means that in the simulation environment, the simulation driver changes lanes to pursue different vehicle speeds and a more free driving space. For example, in the simulation environment, when the target simulation vehicle is driving in the rightmost lane of the simulation highway and the simulation driver needs to drive the target simulation vehicle to change to the left lane to increase the vehicle speed, the target simulation vehicle has a free lane-changing requirement.

[0064] In this embodiment, the transverse direction refers to the direction perpendicular to the center line of the lane, and the longitudinal direction refers to the direction parallel to the center line of the lane. Therefore, the transverse driving parameter is the driving parameter of the target simulation vehicle in the direction perpendicular to the center line of the lane, and the longitudinal driving parameter is the driving parameter of the target simulation vehicle in the direction parallel to the center line of the lane. Optionally, the driving parameters in the embodiments of the present application include speed, acceleration, and position parameters.

[0065] In this embodiment, the following vehicle refers to the simulation vehicle that is driving behind the target simulation vehicle in a certain simulation lane and has the closest longitudinal distance to the target simulation vehicle. The following vehicle can affect the transverse driving parameter of the target simulation vehicle during the process of controlling the target simulation vehicle to change lanes. It can be understood that in traffic simulation, the following vehicle in the same simulation lane will not affect the driving process of the target simulation lane.

[0066] Among them, the decision-making area refers to the area that affects the lane-changing driving process of the target simulated vehicle. Among them, the decision-making area of the first simulated lane is the area starting from the center line of the first simulated lane and along the lane-changing direction for a first distance, and the first distance is less than the distance between the center line of the first simulated lane and the center line of the second simulated lane. During the lane-changing driving process of the target simulated vehicle, when the position of the target simulated vehicle is within the decision-making area of the first simulated area, the target simulated vehicle will be affected by the following vehicle on the second simulated lane.

[0067] S130. Based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process, control the target simulated vehicle to change lanes from the boundary line of the decision-making area of the first simulated lane to the center line of the second simulated lane.

[0068] When the position of the target simulated vehicle crosses the demarcation line of the decision-making area of the first simulated lane, that is, when the target simulated vehicle is between the decision-making area of the first simulated lane and the center line of the second simulated lane, it will not be affected by the following vehicle on the second simulated lane. Therefore, the target simulated vehicle can continue to change lanes from the center line of the first simulated lane to the center line of the second simulated lane. That is, the computer device can continue to control the target simulated vehicle to change lanes from the boundary line of the decision-making area of the first simulated lane to the center line of the second simulated lane based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process.

[0069] Among them, during the process of controlling the target simulated vehicle to change lanes from the center line of the first simulated lane to the center line of the second simulated lane, the lateral driving parameters can be determined according to the lane-changing purpose.

[0070] In some embodiments, as Figure 5 shown, the lateral driving parameters during the lane-changing driving process can be obtained through the following steps:

[0071] S141. Obtain the lateral driving parameters at the start time of lane-changing, the lateral driving parameters at the end time of lane-changing, and the preset lane-changing duration of the target simulated vehicle during the lane-changing driving process.

[0072] S142. Determine the lateral driving parameters during the lane-changing driving process according to the lateral driving parameters at the start time of lane-changing, the lateral driving parameters at the end time of lane-changing, and the preset lane-changing duration of the target simulated vehicle during the lane-changing driving process.

[0073] In this embodiment, the lateral driving parameters during the lane-changing driving process can be determined according to a high-order polynomial. Specifically, assume that the initial time t 0 = 0, and use (Q d0 , V d0 , A d0) to describe the position, velocity, and acceleration in the lateral direction at time t = 0, using (Q dT , V dT , A dT ) to describe the position, velocity, and acceleration in the lateral direction at time t = T. Correspondingly, at the initial moment of lane change driving, the target simulation vehicle has no lateral velocity, lateral acceleration, or lateral displacement. Therefore, the lateral driving parameters at the initial moment of lane change driving are V d0 = 0, A d0 = 0, Q d0 = 0. At the end moment t = T of lane change driving, the target simulation vehicle also has no lateral velocity and lateral acceleration, but has a lateral displacement, and the lateral displacement is the lateral position of the target simulation vehicle at the end moment of lane change driving relative to the initial moment of lane change driving, that is, the lateral distance h between the center line of the first simulation lane and the center line of the target simulation lane. Therefore, V dT = 0, A dT = 0, Q d0 = h.

[0074] There are a total of six boundary conditions. Correspondingly, a fifth-degree polynomial can be used to describe the position of the target simulation vehicle at any time t in the lateral direction: Q d = a 0 + a 1 t + a 2 t 2 + a 3 t 3 + a 4 t 4 + a 5 t 5 . When t = T, then based on V d0 , V dT , A d0 , A dT , Q d0 , Q dT and T, solve for the polynomial coefficients a 0 , a 1 , a 2 , a 3 , a 4 and a 5 , as follows:

[0075] a0 = q0;

[0076] a1 = v0;

[0077] a 2 = 0.5a 0 ;

[0078] a 3 = 1 / 2T 3[20h - (8v 1 + 12v 0 )T - (3a 0 - a 1 )T 2 ;

[0079] a 4 = 1 / 2T 4 [-30h - (14v 1 + 16v 0 )T + (3a 0 - 2a 1 )T 2 ;

[0080] a 5 = 1 / 2T 5 [12h - 6(v 1 + v 0 )T + (a 1 - a 0 )T 2 。

[0081] Among them, q 0 represents the position of the target simulation vehicle at the initial moment of lane change driving, v 0 represents the speed of the target simulation vehicle at the initial moment of lane change driving, v 1 represents the speed of the target simulation vehicle at the end moment of lane change driving, T represents the T-th simulation step, which can be the end moment of the target simulation vehicle's lane change driving here, h represents the distance from the center line of the first simulation lane to the center line of the target simulation lane.

[0082] After obtaining the polynomial coefficients a 0 , a 1 , a 2 , a 3 , a 4 and a 5 , the lateral position, lateral speed, and lateral acceleration of the target simulation vehicle at each moment during the lane change driving can be determined, so as to obtain the lateral driving parameters during the lane change driving.

[0083] Combined with the foregoing content, it can be seen that the target simulation vehicle may only change lanes between two adjacent simulation lanes, or may change lanes across multiple simulation lanes. Taking the target simulation vehicle changing lanes between two adjacent simulation lanes as an example, the following is a detailed description:

[0084] When the target simulation vehicle changes lanes between two adjacent simulation lanes, the second simulation lane is the target simulation lane. At this time, the lateral distance h between the center line of the first simulation lane and the center line of the target simulation lane is the distance between the center line of the first simulation lane and the center line of the second simulation lane.

[0085] Assume that the distance between the center line of the first simulation lane and the center line of the second simulation lane is 4 meters, that is, the width of the simulation lane is 4 meters. The preset lane-changing duration is 4 seconds, and the simulation step size is 0.5 seconds. At this time, it can be known that V d0 = 0, A d0 = 0, Q d0 = 0, V dT = 0, A dT = 0, Q d0 = 4, T = 4. Combining with the aforementioned fifth-degree polynomial, the lateral driving parameters of the target simulation vehicle during the lane change from the center line of the first simulation lane to the center line of the second simulation lane can be obtained, that is, the lateral driving parameters during the lane change process. Specifically, the lateral driving parameters during the lane change process include the lateral acceleration during the lane change driving process, the lateral speed during the lane change driving process, and the lateral position during the lane change driving process. It should be noted that the lateral position refers to the lateral position from the center line of the first simulation lane. Among them, the specific steps can refer to the above-related steps and will not be elaborated here.

[0086] As Figure 6 shown, Figure 6 is a schematic diagram of the lateral acceleration curve changing with time during the lane change driving process provided by an embodiment of the present application. As Figure 7 shown, Figure 7 is a schematic diagram of the lateral speed curve changing with time during the lane change driving process provided by an embodiment of the present application. As Figure 8 shown, Figure 8 is a schematic diagram of the lateral position curve changing with time during the lane change driving process provided by an embodiment of the present application. In Figure 6 , Figure 7 and Figure 8 , the simulation step size is 0.5 seconds.

[0087] In addition, it should be noted that when the target simulation vehicle changes lanes across multiple simulation lanes, h is the lateral distance between the center line of the first simulation lane and the center line of the target simulation lane. Exemplarily, assume that the width of each lane is 4 meters. If there is one simulation lane between the target simulation lane and the first simulation lane, then at this time h = 8 meters. Similarly, T is the preset lane-changing duration corresponding to changing lanes from the center line of the first simulation lane to the center line of the target simulation lane.

[0088] In some embodiments, the longitudinal driving parameters during the lane change process can be determined based on whether the position of the target simulation vehicle crosses the following distance dividing line of the first simulation lane. Specifically, the longitudinal driving parameters during the lane change process are obtained through the following steps: obtaining the position of the target simulation vehicle; when the position of the target simulation vehicle does not cross the following distance dividing line of the first simulation lane, determining the leading vehicle on the first simulation lane as the target leading vehicle during the lane change process, where the following distance dividing line of the first simulation lane is located at a second distance from the center line of the first simulation lane in the lane change direction, and the second distance is less than the distance between the center line of the first simulation lane and the lane dividing line between the first simulation lane and the second simulation lane; when the position of the target simulation vehicle crosses the following distance dividing line of the first simulation lane, determining the leading vehicle on the second simulation lane as the target leading vehicle during the lane change process; and determining the longitudinal driving parameters of the target simulation vehicle during the lane change process based on the target leading vehicle during the lane change process.

[0089] If the position of the target simulation vehicle does not cross the following distance dividing line of the first simulation lane, the leading vehicle on the first simulation lane can be determined as the target leading vehicle during the lane change process, and the longitudinal driving parameters can be determined based on the target leading vehicle during the lane change process. If the position of the target simulation vehicle crosses the following distance dividing line of the first simulation lane, the leading vehicle on the second simulation lane can be determined as the target leading vehicle during the lane change process, and the longitudinal driving parameters can be determined based on the target leading vehicle during the lane change process.

[0090] Among them, determining the longitudinal driving parameters based on the target leading vehicle during the lane change process can specifically be to use a vehicle following algorithm to process the longitudinal speed of the target leading vehicle and the longitudinal distance between the target leading vehicle and the target simulation vehicle, so as to obtain the longitudinal driving parameters.

[0091] In this embodiment, the leading vehicle refers to the simulation vehicle that travels ahead of the target simulation vehicle on a certain simulation lane and has the closest longitudinal distance to the target simulation vehicle. The leading vehicle can affect the longitudinal driving parameters of the target simulation vehicle during the process of controlling the target simulation vehicle to change lanes.

[0092] The following distance dividing line is a dividing line used to determine the leading vehicle during the lane change process of the target simulation vehicle. The following distance dividing line of the first simulation lane is located at a second distance from the center line of the first simulation lane in the lane change direction, and the second distance is less than the distance between the center line of the first simulation lane and the lane dividing line between the first simulation lane and the second simulation lane, that is, the following distance dividing line of the first simulation lane is located within the first simulation lane. During the lane change process of the target simulation vehicle, the target leading vehicle can be determined from the leading vehicles on the first simulation lane and the second simulation lane based on whether the position of the target simulation vehicle crosses the following distance dividing line of the first simulation lane.

[0093] By introducing a following dividing line to quantify the longitudinal driving parameters during the lane-changing process respectively, the lane-changing simulation behavior of the target simulation vehicle controlled based on the longitudinal driving parameters during the lane-changing process can be made closer to the lane-changing behavior in the real traffic scenario. Compared with the related simulation technologies that only consider simple parameters such as the center line of the lane or the lane separator line, the authenticity and accuracy of the lane-changing simulation results are improved.

[0094] In some embodiments, the first distance and the second distance are obtained through the following steps: obtaining a preset aggressiveness value corresponding to the target simulation vehicle; based on the preset aggressiveness value, determining the first distance and the second distance, where the preset aggressiveness value is used to characterize the driving aggressiveness of the simulation driver configured for the simulation vehicle.

[0095] Considering that vehicles may have different driving behaviors due to differences in the driver's reaction time, familiarity with the road conditions, and psychological factors, etc., a preset aggressiveness value can be set for the simulation driver in each simulation vehicle. That is, it is assumed that a floating-point number between (0, 1) is assigned to each simulation vehicle before the simulation starts to represent the aggressiveness of the simulation driver, where 0 represents the most conservative type and 1 represents the most aggressive type. This value does not change during the operation of the simulation. Once assigned, the value will remain fixed. In this embodiment, the setting of the preset aggressiveness value is not specifically limited. Optionally, a corresponding preset aggressiveness value can be randomly configured for the simulation driver of the target simulation vehicle. Optionally, it can also be set according to the behavioral characteristics of the simulation driver as needed.

[0096] Thus, by setting the first distance and the second distance related to the aggressiveness of the simulation driver, the determination of the decision area can be combined with the aggressiveness of the simulation driver, further enabling the determination of the lateral driving parameters and the longitudinal driving parameters during the lane-changing process of the vehicle to be closer to the real traffic scenario, making the driving operation more diverse, and improving the authenticity of the vehicle lane-changing simulation.

[0097] Optionally, setting according to the behavioral characteristics of the real driver to be simulated may include: obtaining the attribute information of the simulation driver configured for the target simulation vehicle, where the attribute information includes at least one of the driver's age, gender, driving area, and travel purpose; based on the attribute information, setting the preset aggressiveness value corresponding to the target simulation vehicle. Setting the preset aggressiveness value corresponding to the target simulation vehicle according to the attribute information of the simulation driver can more realistically simulate the real vehicle driving scenario and further improve the accuracy of the traffic simulation results.

[0098] As an implementation manner, the first distance and the second distance can be set as a function of the preset aggressiveness value. And the functions of the first distance and the second distance can be the same or different.

[0099] Please refer toFigure 9 , in Figure 9 In another schematic diagram of a vehicle lane-changing simulation scenario road shown, the first simulation lane 31 where the target simulation vehicle B is located, the center line 31` of the first simulation lane, the second simulation lane 32 adjacent to the first simulation lane in the lane-changing direction, the center line 32` of the second simulation lane, and the lane dividing line 30 between the first simulation lane 31 and the second simulation lane 32 are shown. At the same time, the decision-making area W1 of the first simulation lane and the dividing line L of the decision-making area are also shown. W1 , and the following-following dividing line L1 of the first simulation lane. Among them, the decision-making area W1 of the first simulation lane is an area starting from the center line 31` of the first simulation lane and along the lane-changing direction for a first distance d1. The following-following dividing line L1 of the first simulation lane is located at a second distance d2 from the center line 31` of the first simulation lane in the lane-changing direction.

[0100] Please refer to Figure 10 , Figure 10 shows a vehicle in Figure 9 schematic diagram of the trajectory of a vehicle performing lane-changing simulation in the vehicle lane-changing simulation scenario road shown. In Figure 10 the trajectory shown, the target simulation vehicle changes lanes from the center line 31` of the first simulation lane to the dividing line L of the decision-making area of the first simulation lane. W1 , and then continues to change lanes from the dividing line L of the decision-making area of the first simulation lane. W1 to the center line 32` of the second simulation lane, that is, the target simulation vehicle B changes lanes from the center line 31` of the first simulation lane to the center line 32` of the second simulation lane. At this time, a lane-changing trajectory G0 can be generated during the lane-changing process.

[0101] A vehicle lane-changing simulation method provided by the present application, during the process of controlling the target simulation vehicle to change lanes, by introducing a decision-making area to judge whether the target simulation vehicle is affected by the following vehicle on the second simulation lane, so as to control the lane-changing driving process of the target simulation vehicle, making the lane-changing simulation behavior of the target simulation vehicle controlled based on the lateral driving parameters and longitudinal driving parameters during the lane-changing process closer to the lane-changing behavior in the real traffic scenario. Compared with the related simulation technologies that only consider simple parameters such as the lane center line or the lane dividing line, the authenticity and accuracy of the lane-changing simulation results are improved.

[0102] In some cases, when the target simulation vehicle changes lanes in the decision-making area of the first simulation lane, there may be a situation where the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle satisfies the safety distance condition before a certain moment, and the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle does not satisfy the safety distance condition after a certain moment. In this case, please refer toFigure 11 , Figure 11 The flowchart of a vehicle lane - changing simulation method proposed in another embodiment of the present application is shown. This method can be executed by a computer device. Among them, the computer device can be the computer device 10 shown above Figure 1 shown, and this method includes:

[0103] S210, controlling the target simulation vehicle to travel along the center line of the first simulation lane.

[0104] S220, based on the lateral driving parameters and longitudinal driving parameters during the lane - changing driving process, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the first position within the decision area of the first simulation lane.

[0105] Among them, the first position is the position where the target simulation vehicle is located when the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle does not meet the safety distance condition.

[0106] It can be understood that when the position of the target simulation vehicle is within the decision area of the first simulation lane, before the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle meets the safety distance condition, that is, before the target simulation vehicle reaches the first position, the target simulation vehicle can still change lanes based on the lateral driving parameters and longitudinal driving parameters during the lane - changing driving process until it travels to the first position within the decision area of the first simulation lane.

[0107] S230, determining the target preset driving operation executed by the target simulation vehicle.

[0108] Among them, the preset driving operation executed by the target simulation vehicle when the safety distance condition is not met is the target preset driving operation.

[0109] It can be understood that since the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle does not meet the safety distance condition, therefore, it is not possible to continue changing lanes based on the lateral driving parameters and longitudinal driving parameters during the lane - changing process, otherwise a collision accident may occur. At this time, in order to avoid a collision accident, the target simulation vehicle can select other preset driving operations. Optionally, in order to avoid a collision accident with the following vehicle, the preset driving operation can be for the target simulation vehicle to return to the center line of the first simulation lane, or it can be for the target simulation vehicle to straighten the vehicle head to drive.

[0110] As an implementation manner, the preset selection probabilities corresponding to each preset driving operation can be set in advance, and then based on the preset selection probabilities corresponding to each preset driving operation, the target preset driving operation executed by the target simulation vehicle is determined.

[0111] In addition, there are multiple ways to preset the preset selection probabilities corresponding to each preset driving operation.

[0112] Optionally, the preset selection probabilities corresponding to each preset driving operation can be set randomly.

[0113] Optionally, considering that in simulated driving, the execution willingness of the simulated driver for different driving operations is different. Therefore, the preset selection probabilities corresponding to each preset driving operation can be set according to the execution willingness of the simulated driver for each preset driving operation. For example, for a driving operation such as returning to the center line of the first simulated lane, it may consume more driving time and driving resources, while for a driving operation such as straightening the vehicle head, it may consume less driving time and driving resources. Therefore, for the simulated driver, they may be more willing to choose the driving operation of straightening the vehicle head. Therefore, for a driving operation such as returning to the center line of the first simulated lane, a relatively small preset selection probability can be set, and for a driving operation such as straightening the vehicle head, a relatively large preset selection probability can be set.

[0114] For example, set the preset selection probability corresponding to the driving operation of returning to the center line of the first simulated lane to 0.4, and set the preset selection probability corresponding to the driving operation of straightening the vehicle head to 0.6.

[0115] Optionally, considering that in simulated driving, the driving risks corresponding to different preset driving behaviors are different. Therefore, the preset selection probabilities corresponding to each preset driving operation can be set according to the driving risk corresponding to the preset driving behavior and the driving aggressiveness of the simulated driver. For example, for a driving operation such as returning to the center line of the first simulated lane, since it is driving on the center line of the first simulated lane after a period of time, it is a conventional driving behavior with relatively low risk, while for a driving operation such as straightening the vehicle head, since it is driving between two lanes after a period of time, it is an unconventional driving behavior with relatively higher risk. Therefore, the preset selection probabilities corresponding to each preset driving operation can also be set according to the driving aggressiveness of the simulated driver and the risk corresponding to the preset driving operation. For example, for the target simulated vehicle corresponding to a simulated driver with a relatively high driving aggressiveness, set a relatively large preset selection probability for the driving operation of returning to the center line of the first simulated lane, and set a relatively small preset selection probability for the driving operation of straightening the vehicle head. For the target simulated vehicle corresponding to a simulated driver with a relatively low driving aggressiveness, set a relatively small preset selection probability for the driving operation of returning to the center line of the first simulated lane, and set a relatively large preset selection probability for the driving operation of straightening the vehicle head.

[0116] Therefore, based on the driving aggressiveness of the simulated vehicle and the danger of the preset driving operation, the preset selection probability corresponding to the preset driving operation is set accordingly, which can more accurately simulate the target preset driving operation executed by the driver when the safety distance condition is not met. Further, the vehicle lane change simulation can be closer to the real traffic scenario, improving the authenticity of the vehicle lane change simulation.

[0117] S240. Based on the target preset driving operation, determine the lateral driving parameters when executing the target preset driving operation.

[0118] It can be understood that different target preset driving operations result in different lateral driving parameters when executing the target preset driving operation.

[0119] In some embodiments, the target preset driving operation is to return to the center line of the first simulation lane. In this case, as Figure 12 shown, based on the target preset driving operation, determining the lateral driving parameters when executing the target preset driving operation includes the following steps:

[0120] S241. Take the moment when the safety distance condition is not met as the initial moment of returning to the center line of the first simulation lane, and obtain the lateral driving parameters at the initial moment of returning to the center line of the first simulation lane.

[0121] In this embodiment, before the moment when the safety distance condition is not met, the target simulated vehicle will continue to change lanes and drive for a period of time based on the lateral driving parameters and longitudinal driving parameters during the lane change process. Correspondingly, when a certain moment T c1 , when the safety distance condition is not met, the lateral driving parameters at the moment T c1 (the initial moment of returning to the center line of the first simulation lane) when the safety distance condition is not met can be determined from the lateral driving parameters during the lane change process, that is, the lateral acceleration A d0 = A dc1 , the lateral speed V d0 = V dc1 , and the lateral position parameter Q d0 = Q dc1 .

[0122] S242. Obtain the lateral driving parameters at the end moment of returning to the center line of the first simulation lane.

[0123] In this embodiment, the target preset driving operation is to return to the center line of the first simulation lane. Therefore, in the lateral driving parameters at the end moment of returning to the center line of the first simulation lane, the lateral acceleration A dT = 0, the lateral speed V dT = 0, and the lateral position parameter Q dT = 0.

[0124] S243. Determine the lateral driving parameters during the process of returning to the center line of the first simulated lane based on the lateral driving parameters at the initial moment, the lateral driving parameters at the end moment, and the preset return time of the center line of the first simulated lane.

[0125] Among them, the preset return time can be pre-configured according to actual needs. Then, combined with the foregoing quintic polynomial, the lateral driving parameters of the target simulated vehicle during the process of returning to the center line of the first simulated lane can be determined. For the specific steps, please refer to the above related steps and will not be elaborated here.

[0126] In some other embodiments, the target preset driving operation is to drive with the front of the vehicle straightened. In this case, as Figure 13 shown, based on the target preset driving operation, determine the lateral driving parameters when performing the target preset driving operation, including the following steps:

[0127] S244. Take the moment when the safety distance condition is not met as the initial moment of driving with the front of the vehicle straightened, and obtain the lateral driving parameters at the initial moment of driving with the front of the vehicle straightened.

[0128] Similarly, when at a certain moment the safety distance condition is not met, the moment T c2 (the initial moment of driving with the front of the vehicle straightened) when the safety distance condition is not met can be determined from the target lateral driving data. That is, the lateral acceleration A d0 = A dc2 , the lateral speed V d0 = V dc2 , and the lateral position parameter Q d0 = Q dc2 .

[0129] S245. Obtain the lateral driving parameters at the end moment of driving with the front of the vehicle straightened.

[0130] In this embodiment, the target preset driving operation is to drive with the front of the vehicle straightened. Therefore, it can be considered that the lateral position does not change during the process of straightening the front of the vehicle. At this time, among the lateral driving parameters at the end moment of driving with the front of the vehicle straightened, the lateral acceleration A dT = 0, the lateral speed V dT = 0, and the lateral position parameter Q dT = Q dc2 .

[0131] S246. Determine the lateral driving parameters during the process of driving with the front of the vehicle straightened based on the lateral driving parameters at the initial moment, the lateral driving parameters at the end moment, and the preset time for straightening the front of the vehicle.

[0132] Among them, the preset vehicle head alignment time can be pre-configured according to actual needs. Then, in combination with the aforementioned fifth-degree polynomial, the lateral driving parameters of the target simulation vehicle during the vehicle head alignment driving process can be determined. For the specific steps, please refer to the relevant steps above and will not be elaborated here.

[0133] S250. Based on whether the position of the target simulation vehicle crosses the following-distance demarcation line of the first simulation lane, determine the target leading vehicle for performing the target preset driving operation from the leading vehicles on the first simulation lane and the second simulation lane, and determine the longitudinal driving parameters for performing the target preset driving operation based on the target leading vehicle for performing the target preset driving operation.

[0134] As an implementation manner, when the position of the target simulation vehicle does not cross the following-distance demarcation line of the first simulation lane, determine the leading vehicle on the first simulation lane as the target leading vehicle.

[0135] In this embodiment, during the process of the target simulation vehicle performing the target preset driving operation, when the position of the target simulation vehicle does not cross the following-distance demarcation line of the first simulation lane, it can be considered that the target simulation vehicle has not entered the area affected by the leading vehicle on the second simulation lane. Therefore, when applying the vehicle following algorithm, it is still considered that the target simulation vehicle follows the leading vehicle on the first simulation lane.

[0136] As another implementation manner, when the position of the target simulation vehicle crosses the following-distance demarcation line of the first simulation lane, based on the longitudinal distances between the leading vehicles on the first simulation lane and the second simulation lane and the target simulation vehicle respectively, determine the target leading vehicle for performing the target preset driving operation from the leading vehicles on the first simulation lane and the second simulation lane.

[0137] In this embodiment, if the position of the target simulation vehicle crosses the following-distance demarcation line of the first simulation lane, it can be considered that the target simulation vehicle has entered the area affected by the leading vehicle on the second simulation lane. At the same time, since the preset driving operation includes returning to drive along the center line of the first simulation lane or aligning the vehicle head, in these two cases, when determining the longitudinal driving parameters, the target simulation vehicle will be affected by the leading vehicles on both the first simulation lane and the second simulation lane. In addition, in these two cases, the main consideration is safety. Therefore, the target leading vehicle cannot be directly determined based on whether the following-distance demarcation line of the first simulation lane is crossed. The leading vehicle with a smaller longitudinal distance can be selected from the leading vehicles on the first simulation lane and the second simulation lane as the target leading vehicle according to the longitudinal distances between the leading vehicles on the first simulation lane and the second simulation lane and the target simulation vehicle respectively.

[0138] After determining the target leading vehicle when performing the target preset driving operation, the process of determining the longitudinal driving parameters when performing the target preset driving operation based on the target leading vehicle can refer to the foregoing content and will not be elaborated here.

[0139] In this embodiment, by using the leading vehicle with a smaller longitudinal distance as the target leading vehicle, the determined longitudinal driving parameters when performing the target preset driving operation can simulate the safety considerations of the target simulation vehicle when performing the target preset driving operation, making the driving behavior of the target simulation vehicle in the simulation scenario closer to the driving behavior of vehicles in the real traffic scenario, and further improving the authenticity and accuracy of the simulation results.

[0140] S260, based on the lateral driving parameters and longitudinal driving parameters when performing the target preset driving operation, control the target simulation vehicle to perform the target preset driving operation from the first position.

[0141] It can be understood that in this embodiment, the target simulation vehicle can include a lane-changing driving behavior and a target preset driving behavior. Specifically, the lane-changing driving behavior is when the position of the target simulation vehicle is in the decision area of the first simulation lane, and the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle meets the safety distance condition, that is, within the time period before the target simulation vehicle reaches the first position, based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process, control the target simulation vehicle to change lanes from the center line of the first simulation lane until it changes lanes to the first position. The target preset driving behavior is when the position of the target simulation vehicle is in the decision area of the first simulation lane, and the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle does not meet the safety distance condition, that is, within the time period after the target simulation vehicle reaches the first position, based on the lateral driving parameters and longitudinal driving parameters when performing the target preset driving operation, control the target simulation vehicle to perform the target preset driving operation starting from the first position.

[0142] Among them, in the case where the target preset driving operation is to return to the center line of the first simulation lane for driving, please refer to Figure 14 , Figure 14 shows another vehicle in Figure 9 The schematic diagram of the trajectory of the vehicle performing lane-changing simulation in the shown vehicle lane-changing simulation scenario road. In Figure 14 the shown trajectory, it includes the trajectory G1 generated by controlling the target simulation vehicle to change lanes based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process before the safety distance condition is not met, and the trajectory G2 generated by controlling the target simulation vehicle to return to the center line of the first simulation lane based on the lateral driving parameters and longitudinal driving parameters when performing the return to the center line of the first simulation lane after the safety distance condition is not met.

[0143] Among them, when the target preset driving operation is to drive with the vehicle head straightened, please refer to Figure 15 , Figure 15 which shows another vehicle's lane-changing simulation trajectory diagram in the lane-changing simulation scenario road shown in Figure 9 . In the trajectory shown in Figure 15 , it includes the trajectory G3 generated by controlling the target simulation vehicle to change lanes based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process before the safety distance condition is not met, and the trajectory G4 generated by controlling the target simulation vehicle to straighten the vehicle head based on the lateral driving parameters and longitudinal driving parameters when performing the operation of straightening the vehicle head after the safety distance condition is not met.

[0144] A vehicle lane-changing simulation method provided by the present application, in the case of introducing a decision area and a following dividing line, further simulates various driving strategies executed in the scenario where the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle does not meet the safety distance condition when the position of the target simulation vehicle is in the decision area of the first simulation lane, further improving the authenticity and accuracy of the lane-changing simulation results.

[0145] In addition, considering that in existing traffic simulations, only lane changes between adjacent lanes are usually considered, and the case of cross-lane lane changes is not considered. However, in the real world, when a vehicle discovers an exit too late on a highway, it needs to continuously cross several lanes to change lanes in order to drive out of the exit in time, or when an aggressive driver is driving on an urban road and wants to obtain a faster speed, sometimes cross-lane lane-changing behavior will occur. Therefore, the driving scenarios considered in existing traffic simulations are few, resulting in a difference between the traffic simulation results and the real traffic situation, and the traffic simulation results cannot accurately reflect the real traffic situation. In this case, please refer to Figure 16 , Figure 16 which shows a flowchart of a vehicle lane-changing simulation method proposed in another embodiment of the present application. This method can be executed by a computer device, where the computer device can be the computer device 10 shown in the above Figure 1 . This method includes:

[0146] S310, controlling the target simulation vehicle to drive on the center line of the first simulation lane.

[0147] S320, based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision area of the first simulation lane.

[0148] S330, based on the lateral driving parameters and longitudinal driving parameters during the lane-changing process, control the target simulation vehicle to change lanes from the boundary line of the decision area of the first simulation lane to the center line of the second simulation lane.

[0149] S340, detect whether the second simulation lane is the target simulation lane.

[0150] Combined with the foregoing, the target simulation vehicle may change lanes only between two adjacent simulation lanes, or may change lanes across multiple simulation lanes.

[0151] If the target simulation vehicle changes lanes only between two adjacent simulation lanes, the target simulation lane is the second simulation lane adjacent to the first simulation lane. If the target simulation vehicle changes lanes across multiple simulation lanes, the target simulation lane is not the second simulation lane adjacent to the first simulation lane.

[0152] S350, if the second simulation lane is the target simulation lane, control the target simulation vehicle to perform a preset lane-changing termination driving operation.

[0153] When the target simulation lane is the second simulation lane adjacent to the first simulation lane, when the target simulation vehicle changes lanes to the center line of the second simulation lane, it can be considered that the lane-changing simulation driving is completed. At this time, the target simulation vehicle can be controlled to perform a preset lane-changing termination driving operation. Optionally, the lane-changing termination driving operation can be driving along the center line of the target simulation lane or decelerating and stopping.

[0154] S360, if the second simulation lane is not the target simulation lane, use the second simulation lane as the new first simulation lane, and use the simulation lane adjacent to the second simulation lane in the lane-changing direction as the new second simulation lane, and return to the step of controlling the target simulation vehicle to change lanes from the center line of the first simulation lane.

[0155] When the target simulation lane is not the second simulation lane adjacent to the first simulation lane, even if the target simulation vehicle changes lanes to the center line of the second simulation lane, the lane-changing simulation driving is not completed, and the target simulation vehicle still needs to continue to change lanes. At this time, the steps of S310 - S370 can be executed cyclically, that is, use the second simulation lane as the new first simulation lane, and use the simulation lane adjacent to the second simulation lane in the lane-changing direction as the new second simulation lane, and return to the step of controlling the target simulation vehicle to change lanes from the center line of the first simulation lane, until the step of S360 is executed, and it is considered that the target simulation vehicle has completed the lane-changing simulation driving process.

[0156] A vehicle lane change simulation method provided in this embodiment proposes a lane change simulation method between adjacent lanes and a cross-lane change simulation method between non-adjacent lanes. Compared with the related art that only simulates the lane change driving process between adjacent lanes, it provides a richer simulation scenario, reduces the difference between the traffic simulation result and the real traffic scenario, makes the lane change simulation behavior closer to the lane change behavior in the real traffic scenario, and improves the authenticity and accuracy of the lane change simulation result.

[0157] Combined with the above description, the entire lane change driving process will be split into two processes: horizontal and vertical. The horizontal driving parameters and vertical driving parameters in the process of the vehicle lane change simulation method in this application will be described in detail respectively. It should be noted that splitting the entire lane change driving process into two processes: horizontal and vertical is for easy understanding. However, in actual lane change simulation, the two processes are carried out simultaneously.

[0158] Please refer to Figure 17 , Figure 17 shown in the flowchart of the horizontal process of a vehicle lane change simulation method proposed in an embodiment of this application. The method includes:

[0159] S401, control the target simulation vehicle to start the lane change simulation from the center line of the first simulation lane.

[0160] S402, determine whether the target simulation vehicle is located in the decision area of the first simulation lane.

[0161] S403, when the result of the judgment in step S402 is no, control the target simulation vehicle to continue the lane change with the horizontal driving parameters in the lane change driving process, and return to step S402.

[0162] S404, when the result of the judgment in step S402 is yes, determine whether the longitudinal vehicle distance between the following vehicle in the second simulation lane and the target simulation vehicle is less than the safety distance condition.

[0163] S405, when the result of the judgment in step S404 is yes, determine whether the second simulation lane is the target simulation lane.

[0164] S406, when the result of the judgment in step S405 is yes, control the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision area of the first simulation lane with the horizontal driving parameters in the lane change driving process.

[0165] S407, control the target simulation vehicle to change lanes from the boundary line of the decision area of the first simulation lane to the center line of the second simulation lane with the horizontal driving parameters in the lane change driving process, and execute step S409.

[0166] S408. When the result of the judgment in step S405 is negative, use the second simulation lane as the new first simulation lane, use the simulation lane adjacent to the second simulation lane in the lane-changing direction as the new second simulation lane, and return to step S402.

[0167] S409. Perform a preset lane-changing termination driving operation.

[0168] S410. When the result of the judgment in step S404 is negative, determine the lateral driving parameters when performing the target preset driving operation, and control the target simulation vehicle to perform the target preset driving operation based on the lateral driving parameters.

[0169] Please refer to Figure 18 , Figure 18 The flowchart of the longitudinal process in a vehicle lane-changing simulation method proposed in an embodiment of the present application is shown below. The method includes:

[0170] S501. The target simulation vehicle starts the lane-changing simulation from the center line of the first simulation lane.

[0171] S502. Determine whether the target simulation vehicle has crossed the following separation line of the first simulation lane.

[0172] S503. When the result of the judgment in step S502 is negative, determine whether the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle is less than the safety distance condition.

[0173] S504. When the result of the judgment in step S503 is positive, determine the longitudinal driving parameters based on the leading vehicle in the first simulation lane, and control the target simulation vehicle to perform the target preset driving operation based on the longitudinal driving parameters.

[0174] S505. When the result of the judgment in step S503 is negative, determine the longitudinal driving parameters based on the leading vehicle in the first simulation lane, continue to change lanes, and return to step 502.

[0175] S506. When the result of the judgment in step S502 is positive, determine whether the longitudinal vehicle distance between the following vehicle on the second simulation lane and the target simulation vehicle is less than the safety distance condition.

[0176] S507. When the result of the judgment in step S506 is positive, determine the longitudinal driving parameters based on the leading vehicle on the first simulation lane and the leading vehicle on the second simulation lane with the smallest longitudinal distance from the target simulation vehicle, and control the target simulation vehicle to perform the target preset driving operation based on the longitudinal driving parameters.

[0177] S508. When the result of the judgment in step S506 is negative, determine the longitudinal driving parameters based on the leading vehicle in the second simulation lane, and control the target simulation vehicle to continue to change lanes until the lateral position is at the center line of the second simulation lane.

[0178] S509, Determine whether the second simulated lane is the target simulated lane.

[0179] S510, When the result of the determination in step S509 is no, use the second simulated lane as the new first simulated lane, use the simulated lane adjacent to the second simulated lane in the lane-changing direction as the new second simulated lane, and return to step S502.

[0180] S511, When the result of the determination in step S509 is yes, perform a preset lane-changing termination driving operation.

[0181] In the lane-changing scenario formed by the vehicle lane-changing simulation method provided in this embodiment, during the process of controlling the target simulated vehicle to change lanes and drive, on the one hand, by introducing a decision area to determine whether the target simulated vehicle is affected by the following vehicle on the second simulated lane, thereby controlling the lane-changing driving process of the target simulated vehicle. On the other hand, a following-distance demarcation line is introduced to quantify the longitudinal driving parameters during the lane-changing driving process respectively, so that the lane-changing simulation behavior of the target simulated vehicle controlled based on the lateral driving parameters and longitudinal driving parameters during the lane-changing process can be closer to the lane-changing behavior in the real traffic scenario, improving the authenticity and accuracy of the lane-changing simulation results. On the other hand, by simulating various possible preset driving strategies executed in the scenario where the longitudinal distance between the following vehicle on the second simulated lane and the target simulated vehicle does not meet the safety distance condition when the position of the target simulated vehicle is in the decision area of the first simulated lane, the authenticity and accuracy of the lane-changing simulation results are further improved. On the one hand, a lane-changing simulation method between adjacent lanes is proposed, and a cross-lane changing simulation method between non-adjacent lanes is also proposed. Compared with the related technology that only simulates the lane-changing driving process between adjacent lanes, it provides a richer simulation scenario, reduces the difference between the result of traffic simulation and the real traffic scenario, makes the lane-changing simulation behavior closer to the lane-changing behavior in the real traffic scenario, and further improves the authenticity and accuracy of the lane-changing simulation results.

[0182] It should be noted that some specific implementable examples are provided in this application. On the premise of not conflicting with each other, the examples of each embodiment can be arbitrarily combined to form a new vehicle lane-changing simulation method. It should be understood that any new vehicle lane-changing simulation method formed by combining any examples should fall within the protection scope of this application.

[0183] In addition, it should be noted that in some alternative implementation manners, the execution order of some processes in the embodiments of the present invention can also be executed in a different order from that recorded in the foregoing specific embodiments. For example, two consecutive processes can actually be executed in parallel, and sometimes they can also be executed in the reverse order, depending on the functions involved.

[0184] Please refer toFigure 19 , Figure 19 shows a block diagram of a vehicle lane - changing simulation device 600 proposed in an embodiment of the present application. The device 600 includes: a first control module 610, a second module 620, and a third control module 630.

[0185] The first control module 610 is used to control the target simulation vehicle to travel along the center line of the first simulation lane.

[0186] The second control module 620 is used to control the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision - making area of the first simulation lane based on the lateral driving parameters and longitudinal driving parameters during the lane - changing process. Among them, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision - making area of the first simulation lane is executed when the position of the target simulation vehicle is in the decision - making area of the first simulation lane and the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle meets the safety distance condition. The decision - making area of the first simulation lane is the area starting from the center line of the first simulation lane and along the lane - changing direction for a first distance, and the first distance is less than the distance between the center line of the first simulation lane and the center line of the second simulation lane. The second simulation lane is the lane adjacent to the first simulation lane in the lane - changing direction.

[0187] The third control module 630 is used to control the target simulation vehicle to change lanes from the boundary line of the decision - making area of the first simulation lane to the center line of the second simulation lane based on the lateral driving parameters and longitudinal driving parameters during the lane - changing process.

[0188] As an implementation manner, the lateral driving parameters during the lane - changing process are obtained through the following steps: obtaining the lateral driving parameters at the start moment of lane - changing, the lateral driving parameters at the end moment of lane - changing, and the preset lane - changing duration of the target simulation vehicle during the lane - changing process; and determining the lateral driving parameters during the lane - changing process according to the lateral driving parameters at the start moment of lane - changing, the lateral driving parameters at the end moment of lane - changing, and the preset lane - changing duration of the target simulation vehicle during the lane - changing process.

[0189] As an implementation manner, the longitudinal driving parameters during the lane change process are obtained through the following steps: obtaining the position of the target simulation vehicle; when the position of the target simulation vehicle has not crossed the following boundary line of the first simulation lane, determining the leading vehicle on the first simulation lane as the target leading vehicle during the lane change process, where the following boundary line of the first simulation lane is located at a second distance from the center line of the first simulation lane in the lane change direction, and the second distance is less than the distance between the center line of the first simulation lane and the lane separation line between the first simulation lane and the second simulation lane; when the position of the target simulation vehicle has crossed the following boundary line of the first simulation lane, determining the leading vehicle on the second simulation lane as the target leading vehicle during the lane change process; and determining the longitudinal driving parameters of the target simulation vehicle during the lane change process based on the target leading vehicle during the lane change process.

[0190] As an implementation manner, the device 600 further includes a fourth control module, a target preset driving operation determination module, a target lateral driving parameter determination module, a target longitudinal driving parameter determination module, and a fifth control module.

[0191] Among them, the fourth control module is configured to control the target simulation vehicle to change lanes from the center line of the first simulation lane to a first position within the decision area of the first simulation lane based on the lateral driving parameters and longitudinal driving parameters during the lane change process, where the first position is the position where the target simulation vehicle is located when the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle does not meet the safety distance condition.

[0192] The target preset driving operation determination module is configured to determine the target preset driving operation executed by the target simulation vehicle.

[0193] The target lateral driving parameter determination module is configured to determine the lateral driving parameters when executing the target preset driving operation based on the target preset driving operation.

[0194] The target longitudinal driving parameter determination module is configured to determine the target leading vehicle when executing the target preset driving operation from the leading vehicles on the first simulation lane and the second simulation lane based on whether the position of the target simulation vehicle has crossed the following boundary line of the first simulation lane, and determine the longitudinal driving parameters when executing the target preset driving operation based on the target leading vehicle when executing the target preset driving operation.

[0195] The fifth control module is configured to control the target simulation vehicle to execute the target preset driving operation from the first position based on the lateral driving parameters and longitudinal driving parameters when executing the target preset driving operation.

[0196] As an implementation manner, the target preset driving operation is to return and drive along the center line of the first simulation lane. The target lateral driving parameter determination module is further configured to use the moment when the safety distance condition is not met as the initial moment for returning and driving along the center line of the first simulation lane, obtain the lateral driving parameters at the initial moment for returning and driving along the center line of the first simulation lane; obtain the lateral driving parameters at the end moment for returning and driving along the center line of the first simulation lane; and determine the lateral driving parameters during the process of returning and driving along the center line of the first simulation lane according to the lateral driving parameters at the initial moment for returning and driving along the center line of the first simulation lane, the lateral driving parameters at the end moment, and the preset return time.

[0197] As an implementation manner, the target preset driving operation is to straighten the vehicle head and drive. The target lateral driving parameter determination module is further configured to use the moment when the safety distance condition is not met as the initial moment for straightening the vehicle head and driving, obtain the lateral driving parameters at the initial moment for straightening the vehicle head and driving; obtain the lateral driving parameters at the end moment for straightening the vehicle head and driving; and determine the lateral driving parameters during the process of straightening the vehicle head and driving according to the lateral driving parameters at the initial moment for straightening the vehicle head and driving, the lateral driving parameters at the end moment, and the preset vehicle head straightening time.

[0198] As an implementation manner, the target longitudinal driving parameter determination module is further configured to, when the position of the target simulation vehicle has not crossed the following dividing line of the first simulation lane, determine the leading vehicle on the first simulation lane as the target leading vehicle when performing the target preset driving operation; when the position of the target simulation vehicle crosses the following dividing line of the first simulation lane, determine the target leading vehicle when performing the target preset driving operation from the leading vehicles on the first simulation lane and the second simulation lane based on the longitudinal distances between the leading vehicles on the first simulation lane and the second simulation lane and the target simulation vehicle respectively.

[0199] As an implementation manner, the target preset driving operation determination module is further configured to obtain the preset selection probabilities corresponding to the respective preset driving operations; and determine the target preset driving operation to be performed by the target simulation vehicle based on the preset selection probabilities corresponding to the respective preset driving operations.

[0200] As an implementation manner, the apparatus 600 further includes:

[0201] A detection module, configured to detect whether the second simulation lane is the target simulation lane.

[0202] A sixth control module, configured to, if the second simulation lane is the target simulation lane, control the target simulation vehicle to perform a preset lane change termination driving operation.

[0203] As an implementation manner, the apparatus 600 further includes:

[0204] A repeated execution module, configured to, if the second simulation lane is not the target simulation lane, use the second simulation lane as the new first simulation lane, use the simulation lane adjacent to the second simulation lane in the lane-changing direction as the new second simulation lane, and return to the step of controlling the target simulation vehicle to change lanes along the center line of the first simulation lane.

[0205] As an implementation, the apparatus 600 further includes:

[0206] A preset aggressiveness value acquisition module, configured to acquire a preset aggressiveness value corresponding to the target simulation vehicle;

[0207] A distance determination module, configured to determine a first distance and a second distance based on the preset aggressiveness value, where the preset aggressiveness value is used to represent the driving aggressiveness of the simulation driver configured for the simulation vehicle.

[0208] As an implementation, the preset aggressiveness value acquisition module is further configured to acquire attribute information of the simulation driver configured for the target simulation vehicle, where the attribute information includes at least one of the age of the driver, the gender of the driver, the driving area, and the travel purpose; and set the preset aggressiveness value corresponding to the target simulation vehicle based on the attribute information.

[0209] As an implementation, the position of the target simulation vehicle is the position of the centroid of the target simulation vehicle or the position of the geometric center.

[0210] In the process of controlling the target simulation vehicle to change lanes, on the one hand, the vehicle lane-changing simulation apparatus provided by the present application determines whether the target simulation vehicle is affected by the following vehicle on the second simulation lane by introducing a decision area, so as to control the lane-changing process of the target simulation vehicle. On the other hand, a following boundary is introduced to quantify the longitudinal driving parameters during the lane-changing process respectively, so that the lane-changing simulation behavior of the target simulation vehicle controlled based on the lateral driving parameters and the longitudinal driving parameters during the lane-changing process can be closer to the lane-changing behavior in the real traffic scenario, improving the authenticity and accuracy of the lane-changing simulation result. On the other hand, by simulating various possible preset driving strategies executed in the scenario where the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle does not meet the safety distance condition when the position of the target simulation vehicle is in the decision area of the first simulation lane, the authenticity and accuracy of the lane-changing simulation result are further improved. On the further hand, both a lane-changing simulation method between adjacent lanes and a cross-lane changing simulation method between non-adjacent lanes are proposed. Compared with the related art that only simulates the lane-changing process between adjacent lanes, a richer simulation scenario is provided, reducing the difference between the result of traffic simulation and the real traffic scenario, making the lane-changing simulation behavior closer to the lane-changing behavior in the real traffic scenario, and further improving the authenticity and accuracy of the lane-changing simulation result.

[0211] It should be noted that the device embodiments in this application correspond to the foregoing method embodiments. For the specific principles in the device embodiments, reference can be made to the content in the foregoing method embodiments, which will not be elaborated here.

[0212] Next, a description will be given of Figure 20 an electronic device provided by this application.

[0213] Please refer to Figure 20 , based on the above vehicle lane change simulation method, another electronic device 100 provided in the embodiments of this application includes a processor 102 that can execute the foregoing method. The electronic device 100 can be a server or a terminal device, and the terminal device can be a smart phone, a tablet computer, a computer, a portable computer, or other such devices.

[0214] The electronic device 100 further includes a memory 104. Among them, a program that can execute the content in the foregoing embodiments is stored in the memory 104, and the processor 102 can execute the program stored in the memory 104.

[0215] Among them, the processor 102 can include one or more cores for processing data and a message matrix unit. The processor 102 connects various parts within the entire electronic device 100 through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 104, and by calling data stored in the memory 104, the processor 102 executes various functions of the electronic device 100 and processes data. Optionally, the processor 102 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 102 can integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the displayed content; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 102 and can be implemented separately through a communication chip.

[0216] The memory 104 may include a Random Access Memory (RAM), or may also include a Read-Only Memory. The memory 104 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 104 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the following various method embodiments, etc. The data storage area may also store data obtained during the use of the electronic device 100 (such as data to be recommended and operation modes), etc.

[0217] The electronic device 100 may further include a network module and a screen. The network module is used to receive and send electromagnetic waves, realize the mutual conversion between electromagnetic waves and electrical signals, so as to communicate with a communication network or other devices, such as communicating with an audio playback device. The network module may include various existing circuit elements for performing these functions. For example, antennas, radio frequency transceivers, digital signal processors, encryption / decryption chips, subscriber identity module (SIM) cards, memories, and so on. The network module can communicate with various networks such as the Internet, enterprise intranets, wireless networks, or communicate with other devices through a wireless network. The above-mentioned wireless network may include a cellular phone network, a wireless local area network, or a metropolitan area network. The screen can display interface content and perform data interaction.

[0218] In some embodiments, the electronic device 100 may further include: a peripheral interface and at least one peripheral device. The processor 102, the memory 104, and the peripheral interface 106 may be connected through a bus or signal lines. Each peripheral device can be connected to the peripheral interface through a bus, signal lines, or a circuit board. Specifically, the peripheral devices include at least one of a radio frequency component 108, a positioning component 112, a camera 114, an audio component 116, a display screen 118, and a power supply 122, etc.

[0219] The peripheral interface 106 can be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 102 and the memory 104. In some embodiments, the processor 102, the memory 104, and the peripheral interface 106 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 102, the memory 104, and the peripheral interface 106 can be implemented on a separate chip or circuit board, and the embodiments of the present application do not limit this.

[0220] The radio frequency component 108 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency component 108 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency component 108 converts electrical signals into electromagnetic signals for transmission, or converts the received electromagnetic signals into electrical signals. Optionally, the radio frequency component 108 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so on. The radio frequency component 108 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G, and 5G), a wireless local area network, and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency component 108 may further include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0221] The positioning component 112 is used to locate the current geographical location of the electronic device to implement navigation or LBS (Location-Based Service). The positioning component 112 can be a positioning component based on the US GPS (Global Positioning System), the Beidou system, or the Galileo system.

[0222] The camera 114 is used to capture images or videos. Optionally, the camera 114 includes a front camera and a rear camera. Generally, the front camera is disposed on the front panel of the electronic device 100, and the rear camera is disposed on the back of the electronic device 100. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth camera, a wide-angle camera, and a telephoto camera, to implement the function of background blurring by fusing the main camera and the depth camera, panoramic shooting by fusing the main camera and the wide-angle camera, and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera 114 may further include a flash. The flash can be a single-color temperature flash or a two-color temperature flash. The two-color temperature flash refers to the combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0223] The audio component 116 may include a microphone and a speaker. The microphone is used to collect sound waves of the user and the environment, and convert the sound waves into electrical signals for input to the processor 102 for processing, or input to the radio frequency component 108 to achieve voice communication. For the purpose of stereo collection or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the electronic device 100. The microphone may also be an array microphone or an omnidirectional collection microphone. The speaker is used to convert the electrical signal from the processor 102 or the radio frequency component 108 into sound waves. The speaker may be a traditional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for uses such as ranging. In some embodiments, the audio component 114 may further include a headphone jack.

[0224] The display screen 118 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos and any combination thereof. When the display screen 118 is a touch display screen, the display screen 118 also has the ability to collect touch signals on or above the surface of the display screen 118. The touch signal can be input to the processor 102 as a control signal for processing. At this time, the display screen 118 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 118, which is arranged on the front panel of the electronic device 100; in other embodiments, there may be at least two display screens 118, which are respectively arranged on different surfaces of the electronic device 100 or in a folded design; in still other embodiments, the display screen 118 may be a flexible display screen, which is arranged on the curved surface or the folding surface of the electronic device 100. Even, the display screen 118 can also be set to an irregular non-rectangular shape, that is, a special-shaped screen. The display screen 118 can be prepared from materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0225] The power supply 122 is used to supply power to each component in the electronic device 100. The power supply 122 can be alternating current, direct current, a primary battery or a rechargeable battery. When the power supply 122 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0226] The embodiment of the present application further provides a computer-readable storage medium. Program code is stored in the computer-readable medium, and the program code can be called by a processor to execute the method described in the above method embodiment.

[0227] The computer-readable storage medium may be an electronic memory such as a flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has a storage space for program code for performing any of the method steps in the above method. These program codes can be read out from or written into one or more computer program products. The program code can be compressed in a suitable form, for example.

[0228] The embodiment of the present application further provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method described in the above various optional implementation manners.

[0229] In summary, for a vehicle lane-changing simulation method, device, electronic device, storage medium, and computer program product or computer program provided by the embodiments of the present application, during the process of controlling a target simulation vehicle to change lanes and drive, on the one hand, by introducing a decision area to determine whether the target simulation vehicle is affected by a following vehicle in the second simulation lane, so as to control the lane-changing driving process of the target simulation vehicle. On the other hand, a following distance dividing line is introduced to quantify the longitudinal driving parameters during the lane-changing driving process respectively, so that the lane-changing simulation behavior of the target simulation vehicle controlled based on the lateral driving parameters and longitudinal driving parameters during the lane-changing process can be closer to the lane-changing behavior in the real traffic scenario, improving the authenticity and accuracy of the lane-changing simulation results. On the other hand, by simulating various possible preset driving strategies executed in the scenario where when the position of the target simulation vehicle is in the decision area of the first simulation lane and the longitudinal distance between the following vehicle in the second simulation lane and the target simulation vehicle does not meet the safe distance condition, the authenticity and accuracy of the lane-changing simulation results are further improved. On the one hand, a lane-changing simulation method between adjacent lanes is proposed, and a cross-lane changing simulation method between non-adjacent lanes is also proposed. Compared with the related technology that only simulates the lane-changing driving process between adjacent lanes, it provides a richer simulation scenario, reduces the difference between the traffic simulation result and the real traffic scenario, makes the lane-changing simulation behavior closer to the lane-changing behavior in the real traffic scenario, and further improves the authenticity and accuracy of the lane-changing simulation results.

[0230] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle lane - changing simulation method, characterized in that, it includes: Controlling the target simulation vehicle to travel along the center line of the first simulation lane; Based on the lateral driving parameters and longitudinal driving parameters during the lane - changing process, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision - making area of the first simulation lane; wherein, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision - making area of the first simulation lane is executed when the position of the target simulation vehicle is in the decision - making area of the first simulation lane and the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle meets the safety - distance condition; the decision - making area of the first simulation lane is the area starting from the center line of the first simulation lane and extending a first distance along the lane - changing direction, the first distance is less than the distance between the center line of the first simulation lane and the center line of the second simulation lane; the second simulation lane is the lane adjacent to the first simulation lane in the lane - changing direction; the first distance is greater than the distance from the center line of the first simulation lane to the demarcation line between the first simulation lane and the second simulation lane; during the process of the target simulation vehicle changing lanes from the decision - making area of the first simulation lane to the second simulation lane, the longitudinal distance between the target simulation vehicle and the following vehicle on the second simulation lane meets the safety - distance condition; Based on the lateral driving parameters and longitudinal driving parameters during the lane - changing process, controlling the target simulation vehicle to change lanes from the boundary line of the decision - making area of the first simulation lane to the center line of the second simulation lane; during the process of the target simulation vehicle changing lanes from the boundary line of the decision - making area of the first simulation vehicle to the center line of the second simulation lane, the target simulation vehicle is not affected by the following vehicle on the second simulation lane.

2. The method according to claim 1, characterized in that, the lateral driving parameters during the lane - changing process are obtained through the following steps: Obtaining the lateral driving parameters at the start - time of lane - changing, the lateral driving parameters at the end - time of lane - changing and the preset lane - changing duration of the target simulation vehicle during the lane - changing process; Determining the lateral driving parameters during the lane - changing process according to the lateral driving parameters at the start - time of lane - changing, the lateral driving parameters at the end - time of lane - changing and the preset lane - changing duration of the target simulation vehicle during the lane - changing process.

3. The method according to claim 1, characterized in that, the longitudinal driving parameters during the lane - changing process are obtained through the following steps: Obtaining the position of the target simulation vehicle; When the position of the target simulation vehicle has not crossed the car - following demarcation line of the first simulation lane, determining the leading vehicle on the first simulation lane as the target leading vehicle during the lane - changing process, the car - following demarcation line of the first simulation lane is located at a second distance from the center line of the first simulation lane in the lane - changing direction, and the second distance is less than the distance from the center line of the first simulation lane to the lane separation line between the first simulation lane and the second simulation lane; When the position of the target simulation vehicle crosses the following - distance demarcation line of the first simulation lane, determine the leading vehicle on the second simulation lane as the target leading vehicle during the lane - changing driving process; Based on the target leading vehicle during the lane - changing driving process, determine the longitudinal driving parameters of the target simulation vehicle during the lane - changing driving process.

4. The method according to claim 1, wherein, after the control of the target simulation vehicle to drive on the center line of the first simulation lane, the method further includes: Based on the lateral driving parameters and longitudinal driving parameters during the lane - changing driving process, control the target simulation vehicle to change lanes from the center line of the first simulation lane to the first position within the decision - making area of the first simulation lane. The first position is the position where the target simulation vehicle is located when the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle does not meet the safety - distance condition; Determine the target preset driving operation executed by the target simulation vehicle; Based on the target preset driving operation, determine the lateral driving parameters when executing the target preset driving operation; Based on whether the position of the target simulation vehicle crosses the following - distance demarcation line of the first simulation lane, determine the target leading vehicle when executing the target preset driving operation from the leading vehicles on the first simulation lane and the second simulation lane, and determine the longitudinal driving parameters when executing the target preset driving operation based on the target leading vehicle when executing the target preset driving operation; Based on the lateral driving parameters and longitudinal driving parameters when executing the target preset driving operation, control the target simulation vehicle to execute the target preset driving operation from the first position.

5. The method according to claim 4, wherein, the target preset driving operation is to return to drive on the center line of the first simulation lane. Based on the target preset driving operation, determining the lateral driving parameters when executing the target preset driving operation includes: Taking the moment when the safety - distance condition is not met as the initial moment to return to the center line of the first simulation lane, and obtaining the lateral driving parameters at the initial moment of returning to the center line of the first simulation lane; Obtaining the lateral driving parameters at the end moment of returning to the center line of the first simulation lane; According to the lateral driving parameters at the initial moment of returning to the center line of the first simulation lane, the lateral driving parameters at the end moment, and the preset return time, determine the lateral driving parameters during the process of returning to the center line of the first simulation lane.

6. The method according to claim 4, wherein, the target preset driving operation is to straighten the vehicle head to drive. Based on the target preset driving operation, determining the lateral driving parameters when executing the target preset driving operation includes: Taking the moment when the safety - distance condition is not met as the initial moment to straighten the vehicle head to drive, and obtaining the lateral driving parameters at the initial moment of straightening the vehicle head to drive; Obtaining the lateral driving parameters at the end moment of straightening the vehicle head to drive; According to the lateral driving parameters at the initial moment of straightening the vehicle head to drive, the lateral driving parameters at the end moment, and the preset vehicle - head - straightening time, determine the lateral driving parameters during the process of straightening the vehicle head to drive.

7. The method according to any one of claims 4 - 6, wherein, the determining of the target leading vehicle for performing the target preset driving operation from the leading vehicles on the first simulation lane and the second simulation lane based on whether the position of the target simulation vehicle crosses the following - distance demarcation line of the first simulation lane includes: when the position of the target simulation vehicle does not cross the following - distance demarcation line of the first simulation lane, determining the leading vehicle on the first simulation lane as the target leading vehicle for performing the target preset driving operation; when the position of the target simulation vehicle crosses the following - distance demarcation line of the first simulation lane, based on the longitudinal distances between the leading vehicles on the first simulation lane and the second simulation lane respectively and the target simulation vehicle, determining the target leading vehicle for performing the target preset driving operation from the leading vehicles on the first simulation lane and the second simulation lane.

8. The method according to claim 4, wherein, the determining of the target preset driving operation performed by the target simulation vehicle includes: acquiring the preset selection probabilities corresponding to the preset driving operations; based on the preset selection probabilities corresponding to the preset driving operations, determining the target preset driving operation performed by the target simulation vehicle.

9. The method according to any one of claims 1 - 3, wherein, after controlling the target simulation vehicle to change lanes from the boundary line of the decision area of the first simulation lane to the center line of the second simulation lane, the method further includes: detecting whether the second simulation lane is the target simulation lane; if the second simulation lane is the target simulation lane, controlling the target simulation vehicle to perform a preset lane - change termination driving operation.

10. The method according to claim 9, wherein, after the detecting whether the second simulation lane is the target simulation lane, the method further includes: if the second simulation lane is not the target simulation lane, taking the second simulation lane as the new first simulation lane, and taking the simulation lane adjacent to the second simulation lane in the lane - change direction as the new second simulation lane, and returning to the step of controlling the target simulation vehicle to change lanes from the center line of the first simulation lane.

11. The method according to claim 3, wherein, the first distance and the second distance are obtained through the following steps: acquiring the preset aggressiveness value corresponding to the target simulation vehicle; based on the preset aggressiveness value, determining the first distance and the second distance, and the preset aggressiveness value is used to characterize the driving aggressiveness of the simulation driver configured for the simulation vehicle.

12. The method according to any one of claims 1 - 3, wherein, the position of the target simulation vehicle is the position of the centroid or the geometric center of the target simulation vehicle.

13. A vehicle lane - change simulation device, wherein, it includes: a first control module, configured to control a target simulation vehicle to travel on the center line of a first simulation lane; The second control module is configured to control the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision-making area of the first simulation lane based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process; wherein, controlling the target simulation vehicle to change lanes from the center line of the first simulation lane to the boundary line of the decision-making area of the first simulation lane is executed when the position of the target simulation vehicle is within the decision-making area of the first simulation lane and the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle meets the safety distance condition; the decision-making area of the first simulation lane is an area starting from the center line of the first simulation lane and having a first distance along the lane-changing direction, and the first distance is less than the distance between the center line of the first simulation lane and the center line of the second simulation lane; the second simulation lane is the lane adjacent to the first simulation lane in the lane-changing direction; the first distance is greater than the distance from the center line of the first simulation lane to the demarcation line between the first simulation lane and the second simulation lane; during the process of the target simulation vehicle changing lanes from the decision-making area of the first simulation lane to the second simulation lane, the longitudinal distance between the target simulation vehicle and the following vehicle on the second simulation lane meets the safety distance condition. The third control module is configured to control the target simulation vehicle to change lanes from the boundary line of the decision-making area of the first simulation lane to the center line of the second simulation lane based on the lateral driving parameters and longitudinal driving parameters during the lane-changing driving process; during the process of the target simulation vehicle changing lanes from the boundary line of the decision-making area of the first simulation vehicle to the center line of the second simulation lane, the target simulation vehicle is not affected by the following vehicle on the second simulation lane.

14. The device according to claim 13, wherein, the lateral driving parameters during the lane-changing driving process are obtained through the following steps: Obtain the lateral driving parameters at the start moment of lane-changing, the lateral driving parameters at the end moment of lane-changing, and the preset lane-changing duration of the target simulation vehicle during the lane-changing driving process; Determine the lateral driving parameters during the lane-changing driving process according to the lateral driving parameters at the start moment of lane-changing, the lateral driving parameters at the end moment of lane-changing, and the preset lane-changing duration of the target simulation vehicle during the lane-changing driving process.

15. The device according to claim 13, wherein, the longitudinal driving parameters during the lane-changing driving process are obtained through the following steps: Obtain the position of the target simulation vehicle; When the position of the target simulation vehicle has not crossed the car-following demarcation line of the first simulation lane, determine the leading vehicle on the first simulation lane as the target leading vehicle during the lane-changing driving process, and the car-following demarcation line of the first simulation lane is located at a second distance from the center line of the first simulation lane in the lane-changing direction, and the second distance is less than the distance between the center line of the first simulation lane and the lane separation line between the first simulation lane and the second simulation lane; When the position of the target simulation vehicle crosses the following - distance demarcation line of the first simulation lane, determine the leading vehicle on the second simulation lane as the target leading vehicle during the lane - change driving process; Based on the target leading vehicle during the lane - change driving process, determine the longitudinal driving parameters of the target simulation vehicle during the lane - change driving process.

16. The device according to claim 13, wherein, the vehicle lane - change simulation device further includes: The fourth control module is used to control the target simulation vehicle to change lanes from the center line of the first simulation lane to the first position within the decision area of the first simulation lane based on the lateral driving parameters and longitudinal driving parameters during the lane - change driving process. The first position is the position where the target simulation vehicle is located when the longitudinal distance between the following vehicle on the second simulation lane and the target simulation vehicle does not meet the safety - distance condition; The target preset driving operation determination module is used to determine the target preset driving operation executed by the target simulation vehicle; The target lateral driving parameter determination module is used to determine the lateral driving parameters when executing the target preset driving operation based on the target preset driving operation; The target longitudinal driving parameter determination module is used to determine the target leading vehicle when executing the target preset driving operation from the leading vehicles on the first simulation lane and the second simulation lane based on whether the position of the target simulation vehicle crosses the following - distance demarcation line of the first simulation lane, and determine the longitudinal driving parameters when executing the target preset driving operation based on the target leading vehicle when executing the target preset driving operation; The fifth control module is used to control the target simulation vehicle to execute the target preset driving operation from the first position based on the lateral driving parameters and longitudinal driving parameters when executing the target preset driving operation.

17. The device according to claim 16, wherein, the target preset driving operation is to return to drive on the center line of the first simulation lane, and the target lateral driving parameter determination module is further used for: Taking the moment when the safety - distance condition is not met as the initial moment to return to the center line of the first simulation lane, and obtaining the lateral driving parameters at the initial moment of returning to the center line of the first simulation lane; Obtaining the lateral driving parameters at the end moment of returning to the center line of the first simulation lane; Determining the lateral driving parameters during the process of returning to the center line of the first simulation lane according to the lateral driving parameters at the initial moment of returning to the center line of the first simulation lane, the lateral driving parameters at the end moment, and the preset return time.

18. The device according to claim 16, wherein, the target preset driving operation is to straighten the vehicle head for driving, and the target lateral driving parameter determination module is further used for: Taking the moment when the safety - distance condition is not met as the initial moment to straighten the vehicle head for driving, and obtaining the lateral driving parameters at the initial moment of straightening the vehicle head for driving; Obtaining the lateral driving parameters at the end moment of straightening the vehicle head for driving; Determining the lateral driving parameters during the process of straightening the vehicle head for driving according to the lateral driving parameters at the initial moment of straightening the vehicle head for driving, the lateral driving parameters at the end moment, and the preset vehicle - head - straightening time.

19. The device according to any one of claims 16 - 18, wherein, The target longitudinal driving parameter determination module is further configured to: When the position of the target simulation vehicle does not cross the following distance dividing line of the first simulation lane, determine the leading vehicle on the first simulation lane as the target leading vehicle when performing the target preset driving operation; When the position of the target simulation vehicle crosses the following distance dividing line of the first simulation lane, based on the longitudinal distances between the leading vehicles on the first simulation lane and the second simulation lane respectively and the target simulation vehicle, determine the target leading vehicle when performing the target preset driving operation from the leading vehicles on the first simulation lane and the second simulation lane.

20. The apparatus according to claim 16, wherein, The target preset driving operation determination module is further configured to: obtain the preset selection probabilities corresponding to the preset driving operations; Based on the preset selection probabilities corresponding to the preset driving operations, determine the target preset driving operation performed by the target simulation vehicle.

21. The apparatus according to any one of claims 13-15, wherein, The vehicle lane change simulation apparatus further includes: A detection module, configured to detect whether the second simulation lane is the target simulation lane; A sixth control module, configured to, if the second simulation lane is the target simulation lane, control the target simulation vehicle to perform a preset lane change termination driving operation.

22. The apparatus according to claim 21, wherein, The vehicle lane change simulation apparatus further includes: A repeated execution module, configured to, if the second simulation lane is not the target simulation lane, use the second simulation lane as the new first simulation lane, and use the simulation lane adjacent to the second simulation lane in the lane change direction as the new second simulation lane, and return to the step of controlling the target simulation vehicle to perform a lane change driving from the center line of the first simulation lane.

23. The apparatus according to claim 15, wherein, The vehicle lane change simulation apparatus further includes: A preset aggressiveness value acquisition module, configured to acquire the preset aggressiveness value corresponding to the target simulation vehicle; A distance determination module, configured to determine the first distance and the second distance based on the preset aggressiveness value, where the preset aggressiveness value is used to characterize the driving aggressiveness of the simulation driver configured for the simulation vehicle.

24. The apparatus according to any one of claims 13-15, wherein, The position of the target simulation vehicle is the position of the centroid or the geometric center of the target simulation vehicle.

25. An electronic device, wherein, includes: One or more processors; A memory; One or more programs, where the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1-12.

26. A computer-readable storage medium, wherein, The computer-readable storage medium stores program codes, and the program codes can be called by a processor to execute the method according to any one of claims 1-12.

27. A computer program product, It is characterized in that including computer instructions, when the computer instructions are executed by a processor, implementing the method according to any one of claims 1-12.

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