Vehicle lane-changing control method and vehicle lane-changing control device

Abstract

The present disclosure relates to a vehicle lane changing control method and a vehicle lane changing control device, the method comprising: acquiring a first lane center line parameter in real time, wherein the first lane center line parameter represents a lane center line parameter used by a vehicle to travel along a first lane; when the vehicle meets a lane changing condition, determining a correction parameter varying over time, and correcting the first lane center line parameter according to the correction parameter to obtain a virtual lane center line parameter; and controlling according to the virtual lane center line parameter to change the vehicle from the first lane to a target lane. Thus, a smooth virtual lane center line parameter is introduced, so that the lane can be changed smoothly.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control, and in particular to a vehicle lane change control method and a vehicle lane change control device. Background Art

[0002] In existing vehicle lane-changing methods, before executing a lane change, a target trajectory (also called a global path) is first planned based on environmental information, and then the vehicle is controlled to follow the target trajectory using methods such as preview control or model prediction.

[0003] However, the above method requires the use of expensive sensors such as RTK and GPS to accurately locate the vehicle's position, and since the global path is determined before the lane change is performed, if the vehicle speed changes during the lane change process, the global path determined before the lane change is performed may no longer be applicable. Summary of the Invention

[0004] In view of this, the present disclosure proposes a vehicle lane change control method and a vehicle lane change control device.

[0005] According to one aspect of the present disclosure, a vehicle lane change control method is provided, comprising: acquiring first lane centerline parameters in real time, wherein the first lane centerline parameters represent lane centerline parameters used by a vehicle traveling along a first lane; determining a correction parameter that varies with time when the vehicle meets a lane change condition, and correcting the first lane centerline parameters based on the correction parameter to obtain a virtual lane centerline parameter; and controlling the vehicle to change lanes from the first lane to a target lane based on the virtual lane centerline parameter.

[0006] According to another aspect of the present disclosure, a vehicle lane change control device is provided, including: an acquisition module for acquiring first lane centerline parameters in real time, wherein the first lane centerline parameters represent lane centerline parameters used for a vehicle traveling along a first lane; a processing module for determining a correction parameter that varies with time when a vehicle meets a lane change condition, and correcting the first lane centerline parameters according to the correction parameter to obtain a virtual lane centerline parameter; and a control module for controlling the vehicle to change lanes from the first lane to a target lane according to the virtual lane centerline parameter.

[0007] The vehicle lane change control method and device disclosed herein introduce smooth virtual lane centerline parameters to coordinate with lane keeping control, enabling smooth lane changes. Furthermore, lane change speeds can be easily increased or decreased without replanning. Furthermore, since global path planning is unnecessary, expensive sensors such as RTK and GPS are not required, reducing costs. Lane change control can also be effectively executed even when the GPS signal is weak.

[0008] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0010] Figure 1 The figure is a flow chart of a vehicle lane change control method according to an exemplary embodiment.

[0011] Figure 2 The figure is a flowchart showing whether a lane change condition is met according to an exemplary embodiment.

[0012] Figure 3a It is a schematic diagram of vehicle lane change when the completion degree T is equal to 0.

[0013] Figure 3b This is a schematic diagram of vehicle lane change when the completion degree T is equal to 0.3.

[0014] Figure 3c This is a schematic diagram of a vehicle changing lanes when the completion degree T is equal to 0.5.

[0015] Figure 3d This is a schematic diagram of vehicle lane change when the completion degree T is equal to 0.7.

[0016] Figure 3e It is a schematic diagram of vehicle lane change when the completion degree T is equal to 1.

[0017] Figure 3f The figure is a schematic diagram showing a complete process of a vehicle changing lanes according to an exemplary embodiment.

[0018] Figure 4 The figure is a block diagram of a vehicle lane change control device according to an exemplary embodiment. DETAILED DESCRIPTION

[0019] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0020] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0021] In addition, numerous specific details are provided in the following detailed description to better illustrate the present disclosure. Those skilled in the art will appreciate that the present disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main points of the present disclosure.

[0022] Figure 1 This is a flow chart illustrating a vehicle lane change control method according to an exemplary embodiment. It should be understood that the vehicle lane change control method of this embodiment requires a road section with clear lane markings. The vehicle employing this vehicle lane change control method must be equipped with a controller, a camera, and a radar.

[0023] The controller is used to control the driving of the vehicle, for example, the controller can be used to execute the vehicle lane change control method of this embodiment. The camera device includes but is not limited to a camera, and the camera device is used to identify the lane line and obtain the lane line parameters used by the vehicle to travel along the lane, such as the lane line equation described below (for example, the fitting equation of a cubic polynomial, corresponding parameters are a0, a1, a2 and a3) and the lane line type (for example, solid line or dashed line). The radar includes a front millimeter wave radar and four side radars. The radar is used to obtain parameters of surrounding vehicles and sidewalks, and the obtained parameters are used to determine whether the lane change conditions are met and to decide the speed of lane change (lane change completion speed).

[0024] like Figure 1 As shown, the vehicle lane change control method may include the following steps.

[0025] In step S110 , a first lane centerline parameter is acquired in real time, wherein the first lane centerline parameter represents a lane centerline parameter used by the vehicle traveling along the first lane.

[0026] In this embodiment, the vehicle's camera device can obtain the lane centerline fitting equation of the current lane (i.e., the first lane) in real time. The lane centerline fitting equation is typically a cubic fitting equation as described below. Therefore, the vehicle's camera device can obtain the lane centerline fitting equation coefficients a0, a1, a2, and a3 in real time and send the obtained coefficients a0, a1, a2, and a3 to the controller; the controller receives the coefficients a0, a1, a2, and a3 and uses the received coefficients a0, a1, a2, and a3 as the first lane centerline parameters. The following expression 1 describes the lane centerline fitting equation:

[0027] y=a0+a1·x+a2·x 2 +a3·x 3 (Expression 1)

[0028] Among them, a0 and a1 are used to describe the position of the vehicle relative to the lane, and a2 and a3 are used to describe the shape of the lane.

[0029] In one implementation, the vehicle's camera obtains the left and right lane line fitting equations, and solves the lane centerline fitting equation based on the left and right lane line fitting equations. The following expressions 2 and 3 describe the left lane line fitting equation and the right lane line fitting equation, respectively:

[0030] y=a0L+a1L·x+a2L·x 2 +a3L·x 3 (Expression 2)

[0031] y=a0R+a1R·x+a2R·x 2 +a3R·x 3 (Expression 3)

[0032] Specifically, the corresponding parameters of the lane centerline fitting equation can be calculated based on the corresponding parameters of the left lane line fitting equation and the corresponding parameters of the right lane line fitting equation, thereby obtaining the lane centerline fitting equation. More specifically, the average values ​​of the corresponding parameters of the left lane line fitting equation and the corresponding parameters of the right lane line fitting equation can be calculated, and the corresponding parameters of the lane centerline fitting equation are respectively equal to the aforementioned average values. For example, a0 = (a0L + a0R) / 2, a1 = (a1L + a1R) / 2, a2 ​​= (a2L + a2R) / 2, and a3 = (a3L + a3R) / 2, where a0L, a1L, a2L, and a3L are the corresponding parameters of the left lane line fitting equation, and a0R, a1R, a2R, and a3R are the corresponding parameters of the right lane line fitting equation.

[0033] In one implementation, the vehicle's camera device obtains the left lane line fitting equation or the right lane line fitting equation, and solves the lane center line fitting equation based on the obtained lane line fitting equation in some way, which will not be described in detail in this article.

[0034] It should be understood that while the vehicle is traveling along the first lane, the controller performs lane keeping control to keep the vehicle along the centerline of the first lane. This means controlling the vehicle to keep parameters a0 and a1 as close to 0 as possible. Therefore, the controller can obtain an output acting on the vehicle, such as the steering wheel angle δ, based on the vehicle state and the fitting equation, to keep the vehicle near the centerline of the first lane. The controller can obtain the steering wheel angle δ using the following expression 4:

[0035] δ=k0·a0+k1·a1+k2·a2+k3·a3x 3 (Expression 4)

[0036] In step S120 , when the vehicle meets the lane change condition, a correction parameter that changes with time is determined, and the first lane centerline parameter is corrected according to the correction parameter to obtain a virtual lane centerline parameter.

[0037] In one embodiment, the vehicle includes an autonomous lane change mode. If the vehicle's autonomous lane change mode is turned on, the controller may perform an autonomous lane change operation regardless of whether a lane change command is received. Conversely, if the vehicle's autonomous lane change mode is turned off, the vehicle performs a command lane change operation depending on whether a lane change command is received.

[0038] Among them, in the command lane change operation, the driver sends a lane change command to the controller. In response to receiving the lane change command, the controller determines whether the lane change conditions are met based on the current environmental information. If it is determined that the lane change conditions are met, the controller controls the vehicle to change lanes so that it performs the lane change operation; otherwise, the controller controls the vehicle to keep lanes so that it drives along the center line of the current lane.

[0039] Among them, in the autonomous lane change operation, no lane change instruction is received. The controller determines whether a lane change operation is needed (that is, whether there is a lane change demand and whether the lane change conditions are met) based on the current environmental information (such as the speed of the vehicle in front) and the cruise speed information (target speed) set by the driver. If there is a lane change demand and the lane change conditions are met, the controller controls the vehicle to perform the lane change operation, thereby changing the vehicle from the current lane to the adjacent lane; otherwise, the controller controls the vehicle to keep the lane, so that the vehicle (roughly) travels along the center line of the current lane.

[0040] Figure 2 FIG. 1 is a flow chart showing a method for determining whether to execute a lane change operation according to an exemplary embodiment. Figure 2 As shown, the controller can determine whether to perform a lane change operation by performing the following processing:

[0041] In step S210 , the controller determines whether the autonomous lane change mode of the vehicle is turned on.

[0042] If it is determined that the autonomous lane change mode is turned on, the following step S220 is executed. If it is determined that the autonomous lane change mode is turned off, the following step S230 is executed.

[0043] In step S220 , the controller determines whether the speed of the vehicle ahead is much lower than the target speed and whether there is any danger in the adjacent lane.

[0044] If it is determined that the speed of the vehicle ahead is much lower than the target speed and there is no danger in the adjacent lane, the following step S250 is executed; otherwise, the following step S260 is executed.

[0045] In step S230 , the controller determines whether a lane change instruction is received from the driver.

[0046] If it is determined that a lane change instruction is received from the driver, the following step S240 is executed; otherwise, the following step S260 is executed.

[0047] In step S240 , the controller determines whether there is any danger in the target lane (adjacent lane).

[0048] If it is determined that the target lane does not have danger, the following step S250 is executed; otherwise, the following step S260 is executed.

[0049] In step S250 , the controller performs a lane change control operation, that is, the controller controls the vehicle to change lanes, thereby driving the vehicle from the current lane to the adjacent lane.

[0050] In step S260 , the controller does not perform a lane change control operation, that is, the controller performs lane keeping control on the vehicle so that the vehicle travels along the center line of the current lane.

[0051] In this embodiment, considering that the lane centerline parameters should change in real time during the vehicle lane change process, if the lane change operation is always performed based on the virtual lane centerline parameters determined when the lane change operation is to be performed, it may cause the vehicle to be unable to enter the target lane from the first lane.

[0052] In view of this, in this embodiment, when the vehicle has a lane change demand and the vehicle meets the lane change conditions, the controller determines a correction parameter that changes with time, and uses the real-time changing correction parameter to correct the first lane centerline parameter obtained in step S110 to obtain a virtual lane centerline parameter.

[0053] In one implementation, the time-varying correction parameter may be determined by: determining a time-varying degree of completion of the vehicle changing lanes from the first lane to the target lane; and determining the correction parameter based on the degree of completion.

[0054] In this embodiment, the controller determines a lane change completion degree and determines a correction parameter based on the lane change completion degree, where the lane change completion degree varies over time. The completion degree represents the degree of lane change completion from the first lane to the target lane (the degree or percentage of lane change completion), and thus has a value range of [0, 1]. It should be understood that since the lane change completion degree varies over time, the correction parameter determined based on it naturally also varies over time, and thus the determined correction parameter can be used to calibrate the first lane centerline parameter.

[0055] In one implementation, the correction parameter may be determined based on the degree of completion in the following manner: determining the vehicle speed and a lane width representing the width of a lane in which the vehicle is traveling; and determining the correction parameter based on the degree of completion, the lane width, and the vehicle speed.

[0056] In this embodiment, the controller determines lane change completion, vehicle speed, and lane width, and determines the aforementioned correction parameters based on the lane change completion, vehicle speed, and lane width. It should be understood that, when the vehicle is traveling along the centerline of the current lane before the lane change, the lane width represents the lateral distance from the vehicle to the centerline of the target lane. Similarly, since lane change completion varies over time, the correction parameters determined based on the lane change completion, vehicle speed, and lane width naturally also vary over time. Therefore, the determined correction parameters can be used to calibrate the first lane centerline parameters.

[0057] For example, the correction parameter can be determined according to the lane change completion degree, vehicle speed, and lane width using the following Expression 5:

[0058] Δa0(t)=L(6T 5 -16T 4 +10T 3 )

[0059] Δa1(t)=Lk(30T 4 -60T 3 +30T 2 )÷v

[0060] Δa2(t)=Lk 2 (120T 3 -180T 2 +60T)÷v 2

[0061] (Expression 5)

[0062] Among them, Δa0(t), Δa1(t) and Δa2(t) represent the above-mentioned correction parameters, L represents the above-mentioned lane width, T represents the above-mentioned completion degree, v represents the above-mentioned vehicle speed, and k represents the adjustable expected lane change completion speed (i.e., how fast the lane change is completed). Generally, the reciprocal of k can represent the expected lane change time. It should be understood that the reciprocal of the maximum value of k can represent the minimum lane change time.

[0063] When T is 0 or 1, the values ​​of Δa0, Δa1, and Δa2 are all 0. During the lane change process, the value of k can be adjusted according to the vehicle's environmental information or the driver's requirements, for example, to speed up or slow down the lane change completion speed k.

[0064] For example, the first lane centerline parameter can be corrected according to the correction parameter to obtain the virtual lane centerline parameter by the following expression 6:

[0065] a0′=a0+Δa0(t)

[0066] a1′=a1+Δa1(t)

[0067] a2′=a2+Δa2(t)

[0068] a3′=a3

[0069] (Expression 6)

[0070] Among them, a0′, a1′, a2′ and a3′ represent the centerline parameters of the virtual lane, and a0, a1, a2 and a3 represent the centerline parameters of the first lane.

[0071] In one implementation, the completion level T may be determined as follows:

[0072] determining a minimum lane change time corresponding to a maximum value of an adjustable desired lane change completion speed based on a vehicle speed of the vehicle and a lane width representing a width of a lane in which the vehicle is traveling;

[0073] The degree of completion is determined according to the minimum lane change time.

[0074] In this embodiment, the value of the minimum lane change time is related to the vehicle speed and lane width. Therefore, the controller can determine the minimum lane change time based on the vehicle speed and lane width. Generally, the greater the vehicle speed or the larger the lane width, the shorter the minimum lane change time. A corresponding table can be pre-stored, which records the vehicle speed, lane width and minimum lane change time. One vehicle speed and one lane width can uniquely correspond to one minimum lane change time. Therefore, a minimum lane change time corresponding to the vehicle speed and lane width can be found in the pre-stored table based on the vehicle speed and lane width.

[0075] In one implementation, the formula To determine the completion degree according to the minimum lane change time, wherein T represents the completion degree, t represents time, k represents the adjustable expected lane change completion speed, k <k max , k max It represents the maximum value of k. It should be understood that the maximum value of k is k max Corresponding to the minimum lane change time. In addition, the description of T and k can be found in the previous description and will not be repeated here.

[0076] In one implementation, the minimum lane change time in the above table can be pre-solved in the following manner: according to the vehicle speed and the predetermined lateral acceleration (for example, the predetermined lateral acceleration can be set to 2m / s 2 ) to determine the vehicle's lane change trajectory; calculate the degree of completion based on the trajectory; and calculate the minimum lane change time based on the degree of completion. Specifically, the vehicle speed v, the curvature of the lane change trajectory, and the predetermined lateral acceleration must satisfy |v²*curvature|<predetermined lateral acceleration. Therefore, the curvature of the lane change trajectory can be determined based on the vehicle speed v and the predetermined lateral acceleration; and the lane change trajectory can be determined based on the curvature. The lane change trajectory can be roughly expressed as: Y=Δa0(t)=L(6T 5 -16T 4 +10T 3 ), so the completion degree T can be calculated based on Y and lane width L; since the completion degree T and the minimum lane change time satisfy the above formula And k <k max , the maximum value k max Corresponding to the minimum lane change time, the minimum lane change time can be calculated based on the completion degree T.

[0077] That is, in this embodiment, before changing lanes, the vehicle maintains its current state. After changing lanes, the vehicle should roughly follow the centerline of the target lane. Between these two states, the vehicle follows the virtual lane centerline based on the virtual lane centerline parameters generated in step S120. The virtual lane centerline parameters can be obtained by adding the correction parameters determined in step S120 to the first lane centerline parameters acquired in real time in step S110.

[0078] In step S130 , control is performed according to the virtual lane centerline parameter to change the vehicle from the first lane to the target lane.

[0079] In this embodiment, the controller controls the vehicle according to the above virtual lane centerline parameters to change the vehicle from the first lane to the target lane, ie, the vehicle drives from the first lane into the target lane.

[0080] Figures 3a-3d The solid lines in the figure represent the lane center lines. Figure 3a The completion degree T in is equal to 0, Figure 3a The dotted line in represents the center line of the virtual lane. Figure 3a The initial lane centerline in is the first lane centerline, the virtual lane centerline coincides with the first lane centerline, and the vehicle travels along the first lane centerline. Figures 3b-3d As shown, the vehicle Figures 3b-3d Drive along the center line of the virtual lane indicated by the dotted line until Figure 3e The vehicle shown changes lanes from the initial lane to the target lane, where Figure 3b The completion degree T in is equal to 0.3, Figure 3c The completion degree T in is equal to 0.5, Figure 3d The completion degree T in is equal to 0.7, Figure 3e The degree of completion T in is equal to 1. Figure 3f As shown, during the entire lane-changing process, the vehicle travels along the center line of the virtual lane that changes in real time until it changes to the target lane.

[0081] It should be noted that when changing the first lane to the target lane, the completion degree T is equal to 1, the above-mentioned correction parameter is taken as 0, and the controller uses the fitting equation of the lane centerline of the target lane obtained in real time by the camera device to control the vehicle so that the vehicle travels along the lane centerline of the target lane (that is, performing lane keeping control of the target lane).

[0082] The vehicle lane change control method of this embodiment, when lane change conditions are met, determines a time-varying correction parameter and uses this correction parameter to correct the first lane centerline parameter, acquired in real time, to obtain a virtual lane centerline parameter. This virtual lane centerline parameter is then used to control the vehicle from the first lane to the target lane. This introduces smooth virtual lane centerline parameters to complement lane keeping control, ensuring smooth lane changes. Furthermore, lane change speeds can be easily increased or decreased without replanning. Furthermore, since global path planning is not required, expensive sensors such as RTK and GPS are not required, reducing costs. Lane change control can also be effectively performed even when the GPS signal is weak.

[0083] In one possible implementation, the vehicle lane change control method further includes:

[0084] When the vehicle crosses the first lane line, determining a compensation parameter that varies with time based on a lane centerline parameter of the vehicle at a first moment and a lane centerline parameter of the vehicle at a second moment, wherein the first moment represents a moment when the lane centerline parameter currently used by the vehicle undergoes a step mutation, and the second moment represents a moment before the lane centerline parameter currently used by the vehicle undergoes a step mutation;

[0085] The currently used virtual lane centerline parameter is compensated according to the compensation parameter to eliminate a sudden step change in the currently used virtual lane centerline parameter.

[0086] In this embodiment, when the vehicle crosses the first lane line, since the lane changes from the first lane to the target lane, the corresponding lane centerline parameter a0 will generate a step value (also called a step mutation), so a compensation value needs to be added to eliminate the step value.

[0087] For example, the virtual lane centerline parameter (also referred to as the actual lane centerline parameter) currently used by the vehicle can be compensated according to the compensation parameter to eliminate the step change of the actual lane centerline parameter by the following expression 7:

[0088] a0″=a0(t0)-a0(t1)+a0′

[0089] a1″=a1(t0)-a1(t1)+a1′

[0090] a2″=a2(t0)-a2(t1)+a2′

[0091] a3″=a3(t0)-a3(t1)+a3′

[0092] (Expression 7)

[0093] Among them, a0(t0), a1(t0), a2(t0) and a3(t0) represent the lane centerline parameters of the vehicle at the second moment t0, a0(t1), a1(t1), a2(t1) and a3(t1) represent the lane centerline parameters of the vehicle at the first moment t1, a0′, a1′, a2′, a3′ represent the currently used virtual lane centerline parameters, a0(t0)-a0(t1), a1(t0)-a1(t1), a2(t0)-a2(t1) and a3(t0)-a3(t1) represent compensation coefficients, and a0″, a1″, a2″, a3″ represent virtual lane centerline parameters obtained by compensating the currently used virtual lane centerline parameters (i.e., the parameters to be compensated) according to the compensation parameters.

[0094] Figure 4 FIG. 1 is a block diagram of a vehicle lane change control device according to an exemplary embodiment. Figure 4 As shown, the vehicle lane change control device 400 may include an acquisition module 410, a processing module 430, and a control module 450. The acquisition module 410 is configured to acquire first lane centerline parameters in real time, wherein the first lane centerline parameters represent lane centerline parameters used by the vehicle traveling along the first lane. The processing module 430 is connected to the acquisition module 410 and configured to determine a time-varying correction parameter when the vehicle meets a lane change condition, and to correct the first lane centerline parameter based on the correction parameter to obtain a virtual lane centerline parameter. The control module 450 is connected to the processing module 430 and configured to control the vehicle to change from the first lane to the target lane based on the virtual lane centerline parameter.

[0095] In a possible implementation, the processing module 430 is configured to:

[0096] determining a degree of completion of the vehicle changing lanes from the first lane to the target lane over time;

[0097] The correction parameter is determined according to the degree of completion.

[0098] In a possible implementation, the processing module 430 is configured to:

[0099] determining a speed of the vehicle and a lane width representing a width of a lane in which the vehicle is traveling;

[0100] The correction parameter is determined according to the degree of completion, the lane width, and the vehicle speed.

[0101] In a possible implementation, the processing module 430 is configured to:

[0102] determining a minimum lane change time corresponding to a maximum value of an adjustable desired lane change completion speed based on a vehicle speed and a lane width representing a width of a lane in which the vehicle is traveling;

[0103] The degree of completion is determined according to the minimum lane change time.

[0104] In a possible implementation, the vehicle lane change control device 400 may further include:

[0105] a determination module (not shown) configured to determine, when the vehicle crosses the first lane line, a compensation parameter that varies over time based on lane centerline parameters of the vehicle at a first moment and lane centerline parameters of the vehicle at a second moment, wherein the first moment represents a moment when a step-change occurs in the virtual lane centerline parameters currently used by the vehicle, and the second moment represents a moment before a step-change occurs in the virtual lane centerline parameters currently used by the vehicle;

[0106] A compensation module (not shown) is used to compensate the currently used virtual lane centerline parameter according to the compensation parameter to eliminate the step mutation of the currently used virtual lane centerline parameter.

[0107] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0108] While various embodiments of the present disclosure have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technical improvements to existing technologies, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle lane change control method, characterized in that: include: Acquiring a first lane centerline parameter in real time, wherein the first lane centerline parameter represents a lane centerline parameter used by the vehicle traveling along the first lane; When the vehicle meets a lane change condition, determining a correction parameter that changes with time, and correcting the first lane centerline parameter according to the correction parameter to obtain a virtual lane centerline parameter; Control is performed according to the virtual lane centerline parameter to change the vehicle from the first lane to a target lane.

2. The vehicle lane change control method according to claim 1, characterized in that: Determine time-varying calibration parameters, including: determining a degree of completion of the vehicle changing lanes from the first lane to the target lane over time; The correction parameter is determined according to the degree of completion.

3. The vehicle lane change control method according to claim 2, characterized in that: Determining the correction parameter according to the degree of completion includes: determining a speed of the vehicle and a lane width representing a width of a lane in which the vehicle is traveling; The correction parameter is determined according to the degree of completion, the lane width, and the vehicle speed.

4. The vehicle lane change control method according to claim 2 or 3, characterized in that: Determining a degree of completion of the vehicle changing lanes from the first lane to the target lane over time includes: determining a minimum lane change time corresponding to a maximum value of an adjustable desired lane change completion speed based on a vehicle speed and a lane width representing a width of a lane in which the vehicle is traveling; The degree of completion is determined according to the minimum lane change time.

5. The vehicle lane change control method according to claim 2 or 3, characterized in that: Also includes: When the vehicle crosses the first lane line, determining a compensation parameter that varies with time based on lane centerline parameters of the vehicle at a first moment and lane centerline parameters at a second moment, wherein the first moment represents a moment when a virtual lane centerline parameter currently used by the vehicle undergoes a step mutation, and the second moment represents a moment before the virtual lane centerline parameter currently used by the vehicle undergoes a step mutation; The currently used virtual lane centerline parameter is compensated according to the compensation parameter to eliminate a sudden step change in the currently used virtual lane centerline parameter.

6. A vehicle lane change control device, characterized in that: include: an acquisition module, configured to acquire a first lane centerline parameter in real time, wherein the first lane centerline parameter represents a lane centerline parameter used by the vehicle traveling along the first lane; a processing module, configured to determine a time-varying correction parameter when the vehicle satisfies a lane change condition, and correct the first lane centerline parameter according to the correction parameter to obtain a virtual lane centerline parameter; A control module is configured to control the vehicle to change lanes from the first lane to a target lane based on the virtual lane centerline parameter.

7. The vehicle lane change control device according to claim 6, characterized in that: The processing module is configured to: determining a degree of completion of the vehicle changing lanes from the first lane to the target lane over time; The correction parameter is determined according to the degree of completion.

8. The vehicle lane change control device according to claim 7, characterized in that: The processing module is configured to: determining a speed of the vehicle and a lane width representing a width of a lane in which the vehicle is traveling; The correction parameter is determined according to the degree of completion, the lane width, and the vehicle speed.

9. The vehicle lane change control device according to claim 7 or 8, characterized in that: The processing module is configured to: determining a minimum lane change time corresponding to a maximum value of an adjustable desired lane change completion speed based on a vehicle speed and a lane width representing a width of a lane in which the vehicle is traveling; The degree of completion is determined according to the minimum lane change time.

10. The vehicle lane change control device according to claim 7 or 8, characterized in that: Also includes: a determination module, configured to determine, when the vehicle crosses the first lane line, a compensation parameter that varies over time based on lane centerline parameters of the vehicle at a first moment and lane centerline parameters of the vehicle at a second moment, wherein the first moment represents a moment when a step mutation occurs in the virtual lane centerline parameters currently used by the vehicle, and the second moment represents a moment before the step mutation occurs in the virtual lane centerline parameters currently used by the vehicle; The compensation module is configured to compensate the centerline parameter of the virtual lane currently in use according to the compensation parameter to eliminate a sudden step change of the centerline parameter of the virtual lane currently in use.

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