Vehicle lane change control method, device, equipment and storage medium

Abstract

The disclosed embodiments relate to a vehicle lane change control method, device, equipment and storage medium. The method comprises: obtaining driving data of a first vehicle and driving data of a second vehicle, wherein the second vehicle is another vehicle that can establish a communication connection with the first vehicle, judging whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area based on the driving data of the first vehicle and the driving data of the second vehicle, and controlling the driving state of the first vehicle based on the judgment result. Through the above method, traffic accidents caused by two vehicles in different lanes changing lanes to the same lane can be effectively avoided.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and more specifically, to a vehicle lane change control method, a vehicle lane change control device, a vehicle lane change control apparatus, and a computer-readable storage medium. Background Art

[0002] With the rapid development of society, the number of vehicles is increasing day by day, and traveling by vehicle has become an important mode of travel for people in their daily lives, such as driving a vehicle, traveling by self-driving vehicle, etc.

[0003] At present, in the actual driving process of vehicles, it is often encountered that two vehicles in different lanes and driving side by side change lanes to drive in the same lane in order to choose a suitable driving route. Figure 1 As shown in the figure, there are three lanes in the same direction, and the vehicle in the leftmost lane and the vehicle in the rightmost lane both want to change lanes to the middle lane.

[0004] However, if a vehicle traveling in the leftmost lane or the rightmost lane is changing lanes to the middle lane, and a vehicle traveling in another lane is also changing lanes to the middle lane, this can easily cause a traffic accident. Therefore, in order to effectively avoid traffic accidents caused by two vehicles in different lanes changing lanes to the same lane, a vehicle lane change control method needs to be provided. Summary of the invention

[0005] One purpose of the embodiments of the present disclosure is to provide a new technical solution for vehicle lane change control.

[0006] According to a first aspect of the present disclosure, a vehicle lane change control method is provided, the method comprising:

[0007] Acquire driving data of a first vehicle and driving data of a second vehicle, wherein the second vehicle is another vehicle capable of establishing a communication connection with the first vehicle;

[0008] According to the driving data of the first vehicle and the driving data of the second vehicle, determining whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, and obtaining a determination result;

[0009] According to the determination result, the driving state of the first vehicle is controlled.

[0010] Optionally, the driving data includes: vehicle coordinate position and vehicle driving route status;

[0011] According to the driving data of the first vehicle and the driving data of the second vehicle, determining whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, and obtaining a determination result, including:

[0012] determining a relative position between the first vehicle and the second vehicle according to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle;

[0013] Determining whether the first vehicle and the second target vehicle meet set conditions, wherein the set conditions include: the relative position meets a preset position condition, and the vehicle driving route state of the first vehicle and the vehicle driving route state of the target second vehicle are both in a lane change state;

[0014] If so, the judgment result is obtained that the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area;

[0015] If not, the judgment result is that the second vehicle will not change lanes to the target area during the process of the first vehicle changing lanes to the target area.

[0016] Optionally, the driving data further includes: the vehicle driving direction;

[0017] The setting condition also includes: a vehicle driving direction of the first vehicle is consistent with a vehicle driving direction of the target second vehicle.

[0018] Optionally, the step of determining whether the vehicle driving route state of any vehicle is a lane change state comprises:

[0019] Obtaining a wheel steering angle of the arbitrary vehicle and a lane line position of the lane in which the vehicle is located;

[0020] Determining a forward trajectory of the arbitrary vehicle according to a wheel steering angle of the arbitrary vehicle;

[0021] Determine whether there is an intersection between the forward trajectory of the arbitrary vehicle and the lane line position;

[0022] If so, determining that the vehicle driving route state of the arbitrary vehicle is a lane change state;

[0023] If not, determining that the vehicle driving route state of the arbitrary vehicle is a no lane change state;

[0024] The arbitrary vehicle is the first vehicle or the second vehicle.

[0025] Optionally, the step of determining whether the vehicle driving route state of any vehicle is a lane change state comprises:

[0026] Obtaining the driving position of the arbitrary vehicle on a pre-set navigation route;

[0027] determining whether the driving position is a lane change position on the navigation route;

[0028] If so, determining that the vehicle driving route state of the arbitrary vehicle is a lane change state;

[0029] If not, determining that the vehicle driving route state of the arbitrary vehicle is a no lane change state;

[0030] The arbitrary vehicle is the first vehicle or the second vehicle.

[0031] Optionally, when a judgment result is obtained that the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, controlling the driving state of the first vehicle according to the judgment result includes:

[0032] Determine a leading vehicle according to a preset traffic rule, wherein the leading vehicle is the first vehicle or the second vehicle;

[0033] In the case where the second vehicle is the leading vehicle, the first vehicle is controlled to maintain driving in the current lane, and / or the first vehicle is controlled to decelerate to a preset safety threshold.

[0034] Optionally, the method further comprises:

[0035] Acquiring the vehicle coordinate position of the leading vehicle and the coordinate position of the target area;

[0036] determining whether the leading vehicle changes lanes into the target area according to the vehicle coordinate position of the leading vehicle and the coordinate position of the target area;

[0037] If so, the first vehicle is controlled to change the current lane to the lane where the target area is located.

[0038] Optionally, the method further comprises:

[0039] Acquiring a lane change completion message sent by the preceding vehicle, wherein the lane change completion message indicates that the preceding vehicle has changed lanes into the target area;

[0040] The first vehicle is controlled to change a current lane to a lane where the target area is located.

[0041] According to a second aspect of the present disclosure, a vehicle lane change control device is provided, comprising:

[0042] An acquisition module, used to acquire driving data of a first vehicle and driving data of a second vehicle, wherein the second vehicle is another vehicle capable of establishing a communication connection with the first vehicle;

[0043] a judgment module, configured to judge, based on the driving data of the first vehicle and the driving data of the second vehicle, whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, and obtain a judgment result;

[0044] A control module is used to control the driving state of the first vehicle according to the judgment result.

[0045] According to a third aspect of the present disclosure, an embodiment of a vehicle lane change control device is provided, comprising the vehicle lane change control device as described in the third aspect of the present specification, or comprising:

[0046] A memory for storing executable commands;

[0047] A processor is used to execute the vehicle lane change control method as described in the first aspect of this specification under the control of the executable command.

[0048] According to a fourth aspect of the present disclosure, an embodiment of a computer-readable storage medium is also provided, which stores executable instructions. When the executable instructions are executed by a processor, the vehicle lane change control method described in the first aspect of this specification is executed.

[0049] One beneficial effect of the disclosed embodiment is that the embodiment determines whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area based on the driving data of the first vehicle and the driving data of the second vehicle, and controls the driving state of the first vehicle based on the judgment result, thereby effectively avoiding traffic accidents caused by two vehicles in different lanes changing lanes to the same lane.

[0050] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0052] Figure 1 is a schematic diagram of a vehicle traveling in three lanes provided by an embodiment of the present disclosure;

[0053] Figure 2 is a block diagram of a hardware configuration of a vehicle lane change control device provided by an embodiment of the present disclosure;

[0054] Figure 3 is a flow chart of a vehicle lane change control method provided by an embodiment of the present disclosure;

[0055] Figure 4 is a schematic diagram of a target area provided by an embodiment of the present disclosure;

[0056] Figure 5 is a structural schematic diagram of a vehicle lane change control device provided by an embodiment of the present disclosure;

[0057] Figure 6 It is a structural schematic diagram of a vehicle lane change control device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0058] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0059] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0060] Technologies, methods and equipment known to persons of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered part of the specification.

[0061] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0062] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0063] <Hardware Configuration>

[0064] Figure 2 It is a block diagram of the hardware configuration of a vehicle lane change control device provided in an embodiment of the present disclosure.

[0065] The vehicle lane change control device 2000 may be a virtual machine or a physical machine. The vehicle lane change control device 2000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, a speaker 2700, a microphone 2800, and the like. Among them, the processor 2100 may be a central processing unit CPU, a microprocessor MCU, and the like. The memory 2200 may include, for example, a ROM (read-only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, and the like. The interface device 2300 may include, for example, a USB interface, a headphone interface, and the like. The communication device 2400 may, for example, be capable of wired or wireless communication. The display device 2500 may be, for example, a liquid crystal display, a touch display, and the like. The input device 2600 may include, for example, a touch screen, a keyboard, and the like. The user may input / output voice information through the speaker 2700 and the microphone 2800.

[0066] In this embodiment, the memory 2200 is used to store a computer program, which is used to control the processor 2100 to operate to perform the data processing method according to any embodiment of the present invention. A technician can design the computer program instructions according to the scheme disclosed in the present invention. How the computer program controls the processor 2100 to operate is well known in the art, so it will not be described in detail here.

[0067] Despite Figure 2 In the figure, multiple devices are shown for the vehicle lane change control device 2000, but the present invention may only involve some of the devices, for example, the vehicle lane change control device 2000 only involves the memory 2200 and the processor 2100.

[0068] In addition, the vehicle lane change control device 2000 can be installed inside the vehicle or outside the vehicle. The vehicle lane change control device 2000 independent of the vehicle can obtain the driving data of the first vehicle and the driving data of the second vehicle through a mobile network, wherein the second vehicle is another vehicle that can establish a communication connection with the first vehicle. According to the driving data of the first vehicle and the driving data of the second vehicle, it is determined whether the second vehicle will also change lanes to the target area during the process of the first vehicle changing lanes to the target area, and a judgment result is obtained. Then, according to the judgment result, a method of controlling the vehicle is determined, and the method of controlling the vehicle is sent to the first vehicle through the mobile network to control the driving state of the first vehicle.

[0069] In the above description, a technician can design instructions according to the scheme disclosed in the present invention. How instructions control the processor to operate is well known in the art, so it will not be described in detail here.

[0070] <Method Example>

[0071] The present disclosure provides a vehicle lane change control method, such as Figure 3 As shown, the method comprises the following steps:

[0072] S301: Acquire driving data of a first vehicle and driving data of a second vehicle.

[0073] Since the embodiment of the present disclosure involves two vehicles in different lanes, in order to distinguish the two vehicles in different lanes, the vehicle in one lane is defined as a first vehicle, and the vehicle in the other lane is defined as a second vehicle, such as Figure 1 As shown, assuming that the vehicle traveling in the leftmost lane is the first vehicle, the vehicle traveling in the rightmost lane is the second vehicle. Conversely, if the vehicle traveling in the rightmost lane is the first vehicle, the vehicle traveling in the leftmost lane is the second vehicle.

[0074] S302: Determine, based on the driving data of the first vehicle and the driving data of the second vehicle, whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, and obtain a determination result.

[0075] Since the present invention aims to avoid traffic accidents caused by two vehicles that are in different lanes and driving side by side when changing lanes to the same lane, in the embodiment disclosed herein, it is necessary to determine, based on the driving data of the first vehicle and the driving data of the second vehicle, whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area.

[0076] It should be noted here that the process of judging whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area is a prediction process, which predicts whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area. In other words, the judgment process is completed before the first vehicle and the second vehicle change lanes and cross the lane line. Before obtaining the judgment result, the first vehicle and the second vehicle are actually still driving normally in their respective lanes, and there is no behavior of crossing the lane line.

[0077] In addition, the target area refers to the area that the first vehicle and the second vehicle enter together when changing lanes at the same time. For example, assuming that Figure 4 As shown, the vehicle traveling in the leftmost lane is the first vehicle, and the vehicle traveling in the rightmost lane is the second vehicle. At this time, if the first vehicle and the second vehicle change lanes at the same time, they will enter area B together, and area B is the target area.

[0078] In actual applications, in order to achieve that when the first vehicle changes lanes to the target area, the second vehicle also changes lanes to the target area, two aspects need to be considered. The first aspect is whether the relative position between the first vehicle and the second vehicle meets the preset position conditions, such as whether the longitudinal distance between the first vehicle and the second vehicle differs by a specified distance, and whether the lateral distance between the first vehicle and the second vehicle differs by a specified distance. The second aspect is that both the first vehicle and the second vehicle have the intention to change lanes. Therefore, in the embodiment of the present disclosure, it can be judged based on the above two aspects whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area.

[0079] In the embodiment of the present disclosure, the relative position between the first vehicle and the second vehicle can be determined by the vehicle position coordinates of the first vehicle and the vehicle position coordinates of the second vehicle, and the intention of the first vehicle and the second vehicle to change lanes can be determined by the vehicle driving route status of the first vehicle and the second vehicle.

[0080] It should be noted here that the vehicle's driving route status can represent the vehicle's intention to change lanes, and specifically includes a lane changing state and a no-lane changing state, wherein the lane changing state means that the vehicle has the intention to change lanes, and the no-lane changing state means that the vehicle does not have the intention to change lanes.

[0081] In addition, the embodiment of the present disclosure provides two methods for determining the vehicle driving route state of any vehicle of the first vehicle and the second vehicle, as follows:

[0082] The first implementation method is: obtaining the wheel steering angle of the arbitrary vehicle and the lane line position of the lane in which the arbitrary vehicle is located, determining the forward trajectory of the arbitrary vehicle based on the wheel steering angle of the arbitrary vehicle, and judging whether there is an intersection point between the forward trajectory of the arbitrary vehicle and the lane line position; if so, determining that the vehicle driving route state of the arbitrary vehicle is a lane changing state; if not, determining that the vehicle driving route state of the arbitrary vehicle is a lane not changing state, wherein the arbitrary vehicle is the first vehicle or the second vehicle.

[0083] It should be noted here that the wheel steering angle can be detected by corresponding sensors, such as steering sensors; the lane line position of the lane can be obtained by map data or a vehicle-mounted camera; the forward trajectory refers to the driving trajectory of the arbitrary vehicle in a certain period of time in the future, and determining the forward trajectory of the arbitrary vehicle is also a prediction process, and the arbitrary vehicle has not passed the determined forward trajectory; this implementation method can be applied to vehicles driven by a driver, and can also be applied to autonomous driving vehicles.

[0084] The second implementation method is: obtaining the driving position of the arbitrary vehicle on a pre-set navigation route, determining whether the driving position is a lane changing position on the navigation route, and if so, determining that the vehicle driving route state of the arbitrary vehicle is a lane changing state; if not, determining that the vehicle driving route state of the arbitrary vehicle is a non-lane changing state, wherein the arbitrary vehicle is the first vehicle or the second vehicle.

[0085] It should be noted here that the navigation route is a route set in advance by the user based on the origin and destination, and the position on the navigation route where lane change is required is the lane change position; the same implementation method can be applied to vehicles driven by a driver, and can also be applied to autonomous driving vehicles.

[0086] In addition, in addition to the two implementations provided in the above-mentioned embodiments of the present disclosure, there are other implementations for determining whether the vehicle driving route status of any vehicle is a lane changing state. For example, the vehicle driving route status of any vehicle can be determined by judging whether the turn signal of the any vehicle is in an on state. These will not be elaborated one by one here.

[0087] In summary, the embodiment of the present disclosure provides an implementation method for determining whether the second vehicle will also change lanes to the target area during the process of the first vehicle changing lanes to the target area based on the vehicle coordinate position and vehicle driving route status of the first vehicle and the vehicle coordinate position and vehicle driving route status of the second vehicle obtained in step S301, and obtaining a determination result according to the driving data of the first vehicle and the driving data of the second vehicle, which is specifically as follows:

[0088] According to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle, the relative position between the first vehicle and the second vehicle is determined, and it is judged whether the first vehicle and the second target vehicle meet the set conditions. If so, a judgment result is obtained that the second vehicle will change lanes to the target area during the process of the first vehicle changing lanes to the target area. If not, a judgment result is obtained that the second vehicle will not change lanes to the target area during the process of the first vehicle changing lanes to the target area.

[0089] It should be noted that the set conditions include: the relative position satisfies a preset position condition, and the vehicle driving route state of the first vehicle and the vehicle driving route state of the target second vehicle are both in a lane change state.

[0090] It should also be noted here that the preset position condition may be that the lateral distance between the first vehicle and the second vehicle is a preset lateral threshold, such as the preset lateral threshold is between 3 meters and 5 meters, and / or the longitudinal distance between the first vehicle and the second vehicle is a preset longitudinal threshold, such as the preset longitudinal threshold is between 0 meters and 3 meters.

[0091] In practical applications, the first vehicle and the second vehicle can change lanes to the target area as follows Figure 1 The driving direction shown may be that the driving direction of the first vehicle is opposite to the driving direction of the second vehicle, or there may be a specific angle between the driving direction of the first vehicle and the driving direction of the second vehicle. However, the difference in the driving directions of the first vehicle and the second vehicle will affect the preset position condition. Therefore, the embodiment of the present disclosure provides another implementation method for determining whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area based on the driving data of the first vehicle and the driving data of the second vehicle to obtain the judgment result, which is specifically as follows:

[0092] According to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle, the relative position between the first vehicle and the second vehicle is determined, and it is judged whether the first vehicle and the second target vehicle meet the set conditions. If so, a judgment result is obtained that the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area. If not, a judgment result is obtained that the second vehicle will not also change lanes to the target area when the first vehicle changes lanes to the target area, wherein the set conditions include: the relative position meets the preset position conditions, the vehicle driving direction of the first vehicle is consistent with the vehicle driving direction of the target second vehicle, and the vehicle driving route state of the first vehicle and the vehicle driving route state of the target second vehicle are both in the lane change state.

[0093] S303: Controlling the driving state of the first vehicle according to the judgment result.

[0094] In the embodiment of the present disclosure, one of the following two judgment results can be obtained through step S301 and step S302:

[0095] The first judgment result is that the second vehicle will not change lanes to the target area when the first vehicle changes lanes to the target area, indicating that when the first vehicle changes lanes to the target area, the second vehicle will maintain the current lane and will not change lanes or change lanes to other areas, and the second vehicle and the first vehicle will not collide due to the lane change;

[0096] The second judgment result is that the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area. This means that when the first vehicle changes lanes to the target area, the second vehicle will also change lanes to the target area. In this way, the first vehicle and the second vehicle will collide due to the lane change.

[0097] For the second judgment result, when the judgment result is that the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, in order to avoid a collision between the first vehicle and the second vehicle due to lane change, the embodiment of the present disclosure can determine the leading vehicle according to preset traffic rules, and when the second vehicle is the leading vehicle, control the first vehicle to maintain driving in the current lane, and / or control the first vehicle to decelerate to a preset safety threshold.

[0098] It should be noted here that the preceding vehicle is the first vehicle or the second vehicle.

[0099] It should also be noted that the traffic rules stipulate the division of responsibilities when two vehicles in different lanes change lanes to the same area and a traffic accident occurs. For example, assuming that Figure 1 The two vehicles shown in the figure have a traffic accident while changing lanes to the middle lane. The vehicle traveling on the far left bears full responsibility. Therefore, in the embodiment of the present disclosure, according to the division of responsibilities when the traffic accident occurs, it can be determined which vehicle is allowed to change lanes first when both vehicles need to change lanes to the target area. That is, according to traffic rules, the leading vehicle can be determined. The leading vehicle refers to the vehicle that changes lanes first, which may be the first vehicle or the second vehicle.

[0100] After the leading vehicle is determined according to the preset traffic rules, the driver can be prompted to change lanes to the target area first through the on-board speaker of the leading vehicle, or through text, icons or animations on the on-board display of the leading vehicle, or through steering wheel vibration; then, the driver is prompted to wait for other vehicles to change lanes to the target area first through the on-board speaker of the following vehicle, or through text, icons or animations on the on-board display of the following vehicle, or through steering wheel vibration, and the steering system is automatically controlled to keep the following vehicle in the current lane, and the powertrain system and braking system are automatically controlled to decelerate the following vehicle to a specified speed value.

[0101] When the second vehicle is the leading vehicle, the second vehicle can change lanes to the target area first, and the first vehicle continues to drive in the current lane and decelerates to the preset safety threshold during the process of the second vehicle changing lanes to the target area; similarly, when the first vehicle is the leading vehicle, the first vehicle can change lanes to the target area first, and the second vehicle continues to drive in the current lane and decelerates to the preset safety threshold during the process of the first vehicle changing lanes to the target area.

[0102] Furthermore, since the following vehicle also needs to change lanes to the lane where the current area is located, in the embodiment of the present disclosure, it is necessary to determine whether the leading vehicle has currently completed the lane change process, that is, the leading vehicle has changed lanes to the target area.

[0103] To this end, the disclosed embodiment provides two implementation methods for determining whether the leading vehicle has currently completed the lane change process, as follows:

[0104] The first implementation method: obtaining the vehicle coordinate position of the leading vehicle and the coordinate position of the target area, judging whether the leading vehicle changes lanes into the target area according to the vehicle coordinate position of the leading vehicle and the coordinate position of the target area, and if so, controlling the first vehicle to change the current lane to the lane where the target area is located.

[0105] It should be noted here that the coordinate position of the target area includes the coordinate position of each vertex of the target area. When the vehicle coordinate position of the leading vehicle is within the coordinate area formed by the coordinate position of each vertex of the target area, it means that the leading vehicle has changed lanes into the target area and completed the lane changing process.

[0106] It should also be noted that, if it is determined that the leading vehicle has not changed lanes into the target area, the first vehicle is controlled to continue waiting for the second vehicle to change lanes into the target area first.

[0107] A second implementation manner: obtaining a lane change completion message sent by the preceding vehicle, and controlling the first vehicle to change a current lane to a lane where the target area is located.

[0108] It should be noted that the lane change completion message indicates that the leading vehicle has changed lanes into the target area. When the leading vehicle completes the lane change process and has changed lanes into the target area, the lane change completion message can be sent to the following vehicle, that is, the first vehicle.

[0109] It should also be noted here that, when it is determined that the leading vehicle has completed the lane change process and changed lanes to the target area, the rear vehicle's on-board speaker may voice prompt the driver that other vehicles have completed the lane change process and can now change lanes to the lane where the target area is located. The rear vehicle's on-board display may also use text, icons or animations to prompt the driver that other vehicles have completed the lane change process and can now change lanes to the lane where the target area is located. The steering wheel may vibrate to prompt the driver that other vehicles have completed the lane change process and can now change lanes to the lane where the target area is located, and the powertrain system and braking system may be automatically controlled to accelerate the rear vehicle to a specified speed value, and the steering system may be automatically controlled to cause the rear vehicle to change its current lane to the lane where the target area is located.

[0110] The above method can effectively avoid traffic accidents caused by two vehicles in different lanes changing lanes to the same lane.

[0111] <Device Example>

[0112] like Figure 5 As shown, the embodiment of the present disclosure further provides a vehicle lane change control device 50 , which includes: an acquisition module 501 , a judgment module 502 and a control module 503 .

[0113] The acquisition module 501 is used to acquire the driving data of the first vehicle and the driving data of the second vehicle, wherein the second vehicle is another vehicle that can establish a communication connection with the first vehicle;

[0114] The judgment module 502 is used to judge whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area according to the driving data of the first vehicle and the driving data of the second vehicle, and obtain a judgment result;

[0115] The control module 503 is used to control the driving state of the first vehicle according to the judgment result.

[0116] In one embodiment, the driving data includes: vehicle coordinate position and vehicle driving route status; the judgment module 502 can also be used to: determine the relative position between the first vehicle and the second vehicle according to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle; judge whether the first vehicle and the second target vehicle meet the set conditions, wherein the set conditions include: the relative position meets the preset position conditions, and the vehicle driving route status of the first vehicle and the vehicle driving route status of the target second vehicle are both in the lane changing state; if so, the judgment result is obtained that the second vehicle will change lanes to the target area during the process of the first vehicle changing lanes to the target area; if not, the judgment result is obtained that the second vehicle will not change lanes to the target area during the process of the first vehicle changing lanes to the target area.

[0117] In one embodiment, the driving data further includes: a vehicle driving direction; and the setting condition further includes: a vehicle driving direction of the first vehicle is consistent with a vehicle driving direction of the target second vehicle.

[0118] In one embodiment, the device 50 further comprises:

[0119] A state determination module is used to obtain the wheel steering angle of the arbitrary vehicle and the lane line position of the lane in which it is located, determine the forward trajectory of the arbitrary vehicle according to the wheel steering angle of the arbitrary vehicle, and judge whether there is an intersection point between the forward trajectory of the arbitrary vehicle and the lane line position; if so, determine that the vehicle driving route state of the arbitrary vehicle is a lane changing state; if not, determine that the vehicle driving route state of the arbitrary vehicle is a lane not changing state, wherein the arbitrary vehicle is the first vehicle or the second vehicle.

[0120] In one embodiment, the state determination module can also be used to: obtain the driving position of the arbitrary vehicle on a pre-set navigation route; determine whether the driving position is a lane changing position on the navigation route; if so, determine that the vehicle driving route state of the arbitrary vehicle is a lane changing state; if not, determine that the vehicle driving route state of the arbitrary vehicle is a non-lane changing state; wherein the arbitrary vehicle is the first vehicle or the second vehicle.

[0121] In one embodiment, the control module 503 can also be used for: when a judgment result is obtained that the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, determining the leading vehicle according to preset traffic rules, wherein the leading vehicle is the first vehicle or the second vehicle; when the second vehicle is the leading vehicle, controlling the first vehicle to maintain driving in the current lane, and / or controlling the first vehicle to decelerate to a preset safety threshold.

[0122] In one embodiment, the device 50 further comprises:

[0123] The lane changing module is used to obtain the vehicle coordinate position of the leading vehicle and the coordinate position of the target area; based on the vehicle coordinate position of the leading vehicle and the coordinate position of the target area, determine whether the leading vehicle changes lanes to the target area; if so, control the first vehicle to change the current lane to the lane where the target area is located.

[0124] In one embodiment, the lane changing module can also be used to: obtain a lane changing completion message sent by the leading vehicle, wherein the lane changing completion message indicates that the leading vehicle has changed lanes to the target area; and control the first vehicle to change the current lane to the lane where the target area is located.

[0125] <Equipment Embodiment>

[0126] In the embodiment of the present disclosure, there is also provided a Figure 6 The vehicle lane change control device 60 shown includes the vehicle lane change control device 50 described in the device embodiment of this specification.

[0127] In another embodiment, the vehicle lane change control device 60 may also include a memory and a processor. The memory is used to store a computer program. The processor is used to execute the method described in any method embodiment of this specification under the control of the computer program stored in the memory.

[0128] The vehicle lane change control device may be a terminal device. The vehicle lane change control device may also be a server connected to the terminal device in communication. The vehicle lane change control device may also include a terminal device and a server connected to the terminal device, which is not limited here.

[0129] <Computer Readable Storage Medium Embodiment>

[0130] This embodiment provides a computer-readable storage medium, in which executable commands are stored. When the executable commands are executed by a processor, the method described in any method embodiment of this specification is executed.

[0131] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0132] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0133] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0134] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0135] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0136] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0137] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0138] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of an instruction, and a part of the module, program segment or instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0139] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle lane change control method, comprising: Acquire driving data of a first vehicle and driving data of a second vehicle, wherein the second vehicle is another vehicle capable of establishing a communication connection with the first vehicle; According to the driving data of the first vehicle and the driving data of the second vehicle, determining whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, and obtaining a determination result; According to the determination result, controlling the driving state of the first vehicle; When a judgment result is obtained that the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, controlling the driving state of the first vehicle according to the judgment result includes: Determine a leading vehicle according to a preset traffic rule, wherein the leading vehicle is the first vehicle or the second vehicle, and the traffic rule stipulates the division of responsibilities when a traffic accident occurs between two vehicles in different lanes when changing lanes to the same area; When the second vehicle is the leading vehicle, controlling the first vehicle to maintain driving in the current lane, and / or controlling the first vehicle to decelerate to a preset safety threshold; Wherein, determining the leading vehicle according to the preset traffic rules includes: According to the division of responsibilities, determining which of the first vehicle or the second vehicle is the allowed leading vehicle, the leading vehicle being the vehicle that changes lanes first, Wherein, the driving data includes: vehicle coordinate position and vehicle driving route status; According to the driving data of the first vehicle and the driving data of the second vehicle, determining whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, and obtaining a determination result, including: determining a relative position between the first vehicle and the second vehicle according to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle; Determining whether the first vehicle and the second vehicle meet set conditions, wherein the set conditions include: the relative position meets a preset position condition, and the vehicle driving route state of the first vehicle and the vehicle driving route state of the second vehicle are both in a lane change state; If so, the judgment result is obtained that the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area; If not, the judgment result is that the second vehicle will not change lanes to the target area during the process of the first vehicle changing lanes to the target area.

2. The method according to claim 1, characterized in that The driving data also includes: the vehicle driving direction; The setting condition also includes: a vehicle driving direction of the first vehicle is consistent with a vehicle driving direction of the second vehicle.

3. The method according to claim 1, characterized in that The step of determining whether the vehicle driving route state of any vehicle is a lane change state comprises: Obtaining a wheel steering angle of the arbitrary vehicle and a lane line position of the lane in which the vehicle is located; Determining a forward trajectory of the arbitrary vehicle according to a wheel steering angle of the arbitrary vehicle; Determine whether there is an intersection between the forward trajectory of the arbitrary vehicle and the lane line position; If so, determining that the vehicle driving route state of the arbitrary vehicle is a lane change state; If not, determining that the vehicle driving route state of the arbitrary vehicle is a no lane change state; The arbitrary vehicle is the first vehicle or the second vehicle.

4. The method according to claim 1, characterized in that: The step of determining whether the vehicle driving route state of any vehicle is a lane change state comprises: Obtaining the driving position of the arbitrary vehicle on a pre-set navigation route; determining whether the driving position is a lane change position on the navigation route; If so, determining that the vehicle driving route state of the arbitrary vehicle is a lane change state; If not, determining that the vehicle driving route state of the arbitrary vehicle is a no lane change state; The arbitrary vehicle is the first vehicle or the second vehicle.

5. The method according to claim 1, characterized in that: The method further comprises: Acquiring the vehicle coordinate position of the leading vehicle and the coordinate position of the target area; determining whether the leading vehicle changes lanes into the target area according to the vehicle coordinate position of the leading vehicle and the coordinate position of the target area; If so, the first vehicle is controlled to change the current lane to the lane where the target area is located.

6. The method according to claim 1, characterized in that The method further comprises: Acquiring a lane change completion message sent by the preceding vehicle, wherein the lane change completion message indicates that the preceding vehicle has changed lanes into the target area; The first vehicle is controlled to change a current lane to a lane where the target area is located.

7. A vehicle lane change control device, comprising: An acquisition module, used to acquire driving data of a first vehicle and driving data of a second vehicle, wherein the second vehicle is another vehicle capable of establishing a communication connection with the first vehicle; a judgment module, configured to judge, based on the driving data of the first vehicle and the driving data of the second vehicle, whether the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area, and obtain a judgment result; a control module, configured to control the driving state of the first vehicle according to the judgment result; When the judgment result is obtained that the second vehicle will also change lanes to the target area during the process in which the first vehicle changes lanes to the target area, the judgment module is further used to: Determine a leading vehicle according to a preset traffic rule, wherein the leading vehicle is the first vehicle or the second vehicle, and the traffic rule stipulates the division of responsibilities when a traffic accident occurs between two vehicles in different lanes when changing lanes to the same area; When the second vehicle is the leading vehicle, controlling the first vehicle to maintain driving in the current lane, and / or controlling the first vehicle to decelerate to a preset safety threshold; Wherein, determining the leading vehicle according to the preset traffic rules includes: According to the division of responsibilities, determining which of the first vehicle or the second vehicle is the allowed leading vehicle, the leading vehicle being the vehicle that changes lanes first, Wherein, the driving data includes: vehicle coordinate position and vehicle driving route status; The judging module is also used for: determining a relative position between the first vehicle and the second vehicle according to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle; Determining whether the first vehicle and the second vehicle meet set conditions, wherein the set conditions include: the relative position meets a preset position condition, and the vehicle driving route state of the first vehicle and the vehicle driving route state of the second vehicle are both in a lane change state; If so, the judgment result is obtained that the second vehicle will also change lanes to the target area when the first vehicle changes lanes to the target area; If not, the judgment result is that the second vehicle will not change lanes to the target area during the process of the first vehicle changing lanes to the target area.

8. A vehicle lane change control device, comprising the vehicle lane change control device according to claim 7, or the device comprises: A memory for storing executable commands; A processor is used to execute the vehicle lane change control method as described in any one of claims 1 to 6 under the control of the executable command.

9. A computer-readable storage medium storing executable instructions, wherein when the executable instructions are executed by a processor, the vehicle lane change control method according to any one of claims 1 to 6 is executed.

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