Vehicle Control Method, Device, and Vehicle

Abstract

A vehicle control method, device (10), and vehicle (100). Among them, the vehicle (100) is equipped with a solid line crossing lane change permission switch (16). When the solid line crossing lane change permission switch (16) is in the open state, when the driver switches the turn signal switch to a state where the left turn signal or the right turn signal is turned on, the vehicle (100) can cross the solid line to change lanes.

Description

Technical Field

[0001] This application relates to autonomous driving technology, and particularly to a vehicle control method, a device, and a vehicle. Background Art

[0002] With the development of artificial intelligence technology, autonomous driving technology is being gradually and widely applied, thus reducing the driving burden on drivers. Regarding autonomous driving, for example, the Society of Automotive Engineers International (SAE International) has proposed 5 levels, namely L1-L5 levels. Among them, L1 level is assisted driving, which can help the driver complete certain driving tasks and can only help complete one driving operation; L2 level is partial automation, which can simultaneously perform acceleration, deceleration, and steering operations automatically; L3 level is conditional automation, where the vehicle can achieve automatic acceleration, deceleration, and steering in a specific environment without the driver's operation; L4 level is highly automated, where the vehicle can complete the entire driving process without the driver, but there are restricted conditions, such as restricting the vehicle speed not to exceed a certain value and the driving area is relatively fixed; L5 level is fully automated, with fully adaptive driving, adapting to any driving scenario.

[0003] The higher these levels are, the more powerful the autonomous driving function is. However, the current technology has not fully realized high-level autonomous driving. Specifically, for example, the traffic scenarios in reality are very complex, and many scenarios have not been fully considered in the current autonomous driving technology. Compared with human driving capabilities, it is far from being flexible enough. That is to say, there is still room for improvement in the flexibility of autonomous driving technology in adapting to various traffic scenarios. Summary of the Invention

[0004] This application provides a vehicle control method, a device, a vehicle, etc., which can improve the flexibility of autonomous driving.

[0005] In a first aspect of this application, a vehicle control method is provided, including: detecting a first operation of the driver of the vehicle, where the first operation is used to command the vehicle to change lanes from the current lane to the target lane; obtaining the status information of the solid line crossing lane change permission switch of the vehicle; when the first operation is detected and the status information indicates that the solid line crossing lane change permission switch is in the open state, performing a first control, where the first control includes making the vehicle change lanes.

[0006] Here, the meaning of crossing a solid line for lane change is to change lanes across the solid line lane. Regarding the solid line crossing lane change permission switch, as its name implies, when it is opened, it is possible for the vehicle to cross the solid line for lane change, and when it is closed, the vehicle's solid line crossing lane change is prohibited.

[0007] Using the vehicle control method described above, when the first operation of the driver is detected and the solid line crossing lane change permission switch is in the on state, the vehicle is made to perform an automatic lane change. In this way, for example, in cases such as emergency avoidance, the vehicle can cross the solid line for lane change, avoiding accidents or inconveniences caused by mechanically driving according to the "prohibition of crossing the solid line for lane change" rule, thereby improving the flexibility of autonomous driving control.

[0008] In addition, this lane change is triggered by the operation of the driver (person), thus maintaining human control as the highest priority, safeguarding the subjective intervention authority of the person, and enabling autonomous driving technology to better serve people; moreover, reserving the highest judgment right of the lane change for the driver can make up for the lack of judgment of the driver's emotions by autonomous driving technology and better meet the personalized needs of different drivers, respecting the driving intentions of the driver.

[0009] As a possible implementation manner of the first aspect, the vehicle control method further includes: obtaining the type information of the lane lines between the current lane and the target lane; when the type information indicates that the lane lines are solid lane lines, the first control further includes issuing a prompt for indicating that the lane lines are solid lane lines.

[0010] Adopting the above method, since a prompt is issued when the lane lines are solid lane lines, it is possible to warn the driver to improve attention and suppress the possibility of dangerous driving caused by misoperation.

[0011] This prompt includes, for example, a sound effect prompt, a displayed text prompt, and / or a voice prompt.

[0012] As a possible implementation manner of the first aspect, the first control includes: making the vehicle perform a lane change after a preset time has elapsed since the first operation was detected.

[0013] Adopting the above method, since the vehicle performs a lane change after a preset time has elapsed, it is possible to leave time for the driver to cancel the lane change and suppress the possibility of dangerous driving caused by misoperation.

[0014] In addition, as a possible implementation manner of the first aspect, the first control includes: making the vehicle perform a lane change when the first operation is detected again within the preset time.

[0015] Adopting the above method, when the driver performs the first operation again, it can be considered that the intention to request the vehicle to perform a lane change is strong. At this time, the automatic lane change is performed without waiting for the preset time to elapse, thereby enabling more compliant control with the intentions of the occupants.

[0016] As a possible implementation of the first aspect, the first control further includes adjusting the variable road condition parameter, where the variable road condition parameter indicates the conditions that the road condition of the target lane should meet when the vehicle changes lanes. Among them, the adjusted variable road condition parameter is easier to be met than before the adjustment; the vehicle control method further includes: obtaining the road condition information of the target lane; when the road condition indicated by the road condition information meets the conditions indicated by the adjusted variable road condition parameter, causing the vehicle to change lanes.

[0017] Adopting the above method, when the occupant requests a lane change, it can be considered that the occupant's request for lane change is relatively urgent. Therefore, by adjusting the variable road condition parameter, the variable road condition is easier to be met (reducing the road condition requirements), making it easier for the vehicle to change lanes, and thus being able to more appropriately respond to the occupant's request.

[0018] As a possible implementation of the first aspect, the first operation is to switch the turn signal switch to the state where the left turn signal or the right turn signal is turned on.

[0019] Adopting the above method, setting the opening operation of the turn signal switch as the trigger operation for issuing a lane change command is consistent with the steering operation behavior of the driver during manual driving, avoiding making the driver feel that the operation is complicated when defining other operations, or causing misoperations when in a hurry.

[0020] The second aspect of the present application provides a vehicle control device, including: an operation detection module, configured to detect a first operation of the driver of the vehicle, where the first operation is used to command the vehicle to change lanes from the current lane to the target lane; a switch state acquisition module, configured to acquire the state information of the solid line crossing lane change permission switch of the vehicle; a control module, configured to execute the first control when detecting the first operation and the state information indicates that the solid line crossing lane change permission switch is in the on state, where the first control includes causing the vehicle to change lanes.

[0021] Adopting the vehicle control device described above, when detecting the first operation of the driver and the solid line crossing lane change permission switch is in the on state, causing the vehicle to change lanes. In this way, for example, in cases such as emergency avoidance, the vehicle can cross the solid line to change lanes, avoiding mechanical driving according to the "prohibited from crossing the solid line to change lanes" rule and causing accidents or inconveniences, thereby improving the flexibility of autonomous driving control.

[0022] As a possible implementation of the second aspect, the vehicle control device further includes a lane line type acquisition module, configured to acquire the type information of the lane line between the current lane and the target lane; when the type information indicates that the lane line is a solid line lane line, the first control further includes issuing a prompt indicating that the lane line is a solid line lane line.

[0023] In the above manner, since a prompt is issued when the lane line is a solid lane line, it is possible to alert the driver to improve attention and suppress the possibility of driving hazards caused by misoperations.

[0024] As a possible implementation of the second aspect, the prompt includes a sound effect prompt, a displayed text prompt, and / or a voice prompt.

[0025] As a possible implementation of the second aspect, after a preset time has elapsed since the operation detection module detects the first operation, the control module causes the vehicle to change lanes.

[0026] In the above manner, since the vehicle is caused to change lanes after a preset time has elapsed, it is possible to leave time for the driver to cancel the lane change and suppress the possibility of driving hazards caused by misoperations.

[0027] As a possible implementation of the second aspect, within the preset time, when the operation detection module detects the first operation again, the control module causes the vehicle to change lanes.

[0028] In the above manner, when the driver performs the first operation again, it can be considered that the intention to request the vehicle to change lanes is strong. At this time, the lane change is performed without waiting for the preset time to elapse, so that more appropriate control in line with the occupant's intention can be executed.

[0029] As a possible implementation of the second aspect, the first control executed by the control module further includes adjusting the lane change road condition parameter, where the lane change road condition parameter indicates the conditions that the road condition of the target lane should meet when the vehicle changes lanes. Among them, the adjusted lane change road condition parameter is easier to be met than before; the vehicle control device further includes a road condition acquisition module for acquiring the road condition information of the target lane; when the road condition indicated by the road condition information meets the conditions indicated by the adjusted lane change road condition parameter, the control module executes the control to cause the vehicle to change lanes.

[0030] In the above manner, when the occupant requests a lane change, it can be considered that the occupant's request for a lane change is relatively urgent. Therefore, by adjusting the lane change road condition parameter to make the lane change road condition easier to be met (reducing the road condition requirements), the vehicle can more easily achieve a lane change, so that the vehicle can more appropriately respond to the occupant's request.

[0031] As a possible implementation of the second aspect, the first operation is to switch the turn signal switch to a state where the left turn signal or the right turn signal is turned on.

[0032] In the above manner, setting the opening operation of the turn signal switch as the trigger operation for issuing a lane change command is consistent with the steering operation behavior during manual driving by the driver, avoiding making the driver feel that the operation is complicated when defining other operations, or causing misoperations when in a hurry.

[0033] The third aspect of the present application provides a vehicle, including the vehicle control device with any of the above structures.

[0034] With such a vehicle, when the first operation of the driver is detected and the solid line crossing lane change permission switch is in the on state, the vehicle is made to change lanes. Thus, for example, in cases such as emergency avoidance, the vehicle can cross the solid line to change lanes, avoiding accidents or inconveniences caused by mechanically driving according to the rule of "prohibited from crossing the solid line to change lanes", thereby improving the flexibility of autonomous driving control.

[0035] As a possible implementation of the third aspect, the vehicle is a special vehicle, and the special vehicle includes an ambulance, a fire truck, a police car or an engineering rescue vehicle.

[0036] For special vehicles, compared with household vehicles, etc., the situation of crossing the solid line to change lanes is more frequent. Therefore, applying it to these vehicles can better reflect the flexibility of autonomous driving control.

[0037] The fourth aspect of the present application provides a computer-readable storage medium, on which program instructions are stored, characterized in that the program instructions, when executed by a computer, cause the computer to execute any of the above vehicle control methods.

[0038] These and other aspects of the present application will become more clearly understood in the following description of the (one or more) embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The following further illustrates each feature of the present application and the relationship between each feature with reference to the drawings. The drawings are all exemplary. Some features are not shown in actual proportion, and in some drawings, the conventional and non-essential features in the field related to the present application may be omitted, or non-essential features for the present application may be additionally shown. The combination of the features shown in the drawings is not used to limit the present application. Additionally, throughout this specification, the content referred to by the same reference numerals is also the same. The specific description of the drawings is as follows:

[0040] Figure 1 It is a schematic diagram of an application scenario example of the present application;

[0041] FIG. 2 is a schematic flowchart of automatic lane change involved in an embodiment of the present application;

[0042] Figure 3 It is a schematic explanatory diagram of the solid line crossing lane change permission switch involved in an embodiment of the present application;

[0043] Figure 4 It is a schematic explanatory diagram of an example of a display screen on an in-vehicle display involved in an embodiment of the present application;

[0044] Figure 5 Schematic block diagram of a vehicle control device involved in an embodiment of the present application;

[0045] Figure 6 Schematic flowchart of automatic lane change involved in an embodiment of the present application;

[0046] Figure 7 Schematic block diagram of a vehicle control device involved in an embodiment of the present application;

[0047] Figure 8 Schematic block diagram of a vehicle involved in an embodiment of the present application. Detailed implementation manners

[0048] First, some application scenarios of the present application will be described.

[0049] Figure 1 Shown is an application scenario example of the present application. As Figure 1 Shown, an ambulance 104 is driving on a crowded road. In order to make way for the ambulance 104, the driver of the vehicle 105 hopes that the vehicle 105 crosses the solid line to change lanes and enter the right lane of its current lane. In addition to ambulances, special vehicles also include fire trucks, police cars, engineering rescue vehicles, etc. When driving on the road, situations of making way for these special vehicles will be encountered. In addition, for these special vehicles themselves, there is also a need to cross the solid line to change lanes.

[0050] As above, in actual situations, there are many needs to cross the solid line to change lanes. In response to these needs, the present application provides a technology that enables a vehicle to perform cross-solid-line lane change in an autonomous driving mode, so as to improve the scene coverage of autonomous driving, improve the flexibility of autonomous driving, and better adapt to the driver's intention or personalized needs.

[0051] Specifically, the present application mainly provides a vehicle control method, a vehicle control device, a vehicle, a computer program, a computer-readable storage medium, and a computing device.

[0052] Next, the general structure of a vehicle with an autonomous driving mode will be described. Figure 8 Schematic block diagram of a vehicle with an autonomous driving mode involved in an embodiment of the present application.

[0053] As Figure 8As shown, vehicle 100 has a control device 10, a camera 20, a communication device 30, a navigation device 40, a power system 50, a steering system 60, and a braking system 70. Additionally, vehicle 100 also has a steering lever (turn signal switch), which has three states: a state where the right turn signal is on, an off state (neutral position), and a state where the left turn signal is on. Additionally, vehicle 100 also has structural elements other than these, but the description thereof is omitted here.

[0054] The camera 20 is used to detect the external environment of the vehicle, and the number can be one or more. The camera 20 is an example of an external environment sensor. In addition to this, lidar, millimeter-wave radar, etc. can also be provided to detect the external environment.

[0055] The communication device 30 is capable of wireless communication with an external object (not shown). The external object can include, for example, a base station (not shown), a cloud server, a mobile terminal (such as a smartphone), a roadside device, other vehicles, etc.

[0056] The navigation device 40 typically has a GNSS (Global Navigation Satellite System) receiver (not shown) and a map database. The navigation device 40 can determine the position of vehicle 100 through the satellite signals received by the GNSS receiver, and can generate a route to the destination based on the map information in the map database, and provide information about this route to the control device 10. Additionally, the navigation device 40 can also have an IMU (Inertial Measurement Unit), and perform positioning by fusing the information of the GNSS receiver and the information of the IMU.

[0057] The power system 50 has a drive ECU (not shown) and a drive source (not shown). The drive ECU controls the driving force (torque) of vehicle 100 by controlling the drive source. Examples of the drive source can be an engine, a drive motor, etc. The drive ECU can control the drive source according to the driver's operation of the accelerator pedal, thereby being able to control the driving force. Additionally, the drive ECU can also control the drive source according to the instructions sent from the vehicle control device 10, thereby being able to control the driving force. The driving force of the drive source is transmitted to the wheels (not shown) via a transmission (not shown), etc., thereby driving vehicle 100 to travel.

[0058] The steering system 60 includes a steering ECU (EPS (Electric Power Steering) ECU, not shown) and an EPS motor (not shown). The steering ECU can control the EPS motor based on the driver's operation of the steering wheel, thereby controlling the orientation of the wheels (specifically, the steering wheels). In addition, the steering ECU can also control the EPS motor according to an instruction sent from the vehicle control device 10, thereby controlling the orientation of the wheels. Alternatively, steering can be performed by changing the torque distribution or braking force distribution between the left and right wheels.

[0059] The braking system 70 includes a braking ECU (not shown) and a braking mechanism (not shown). The braking mechanism operates the braking components through a braking motor, a hydraulic mechanism, etc. The braking ECU can control the braking mechanism based on the driver's operation of the brake pedal, thereby being able to control the braking force. In addition, the braking ECU can also control the braking mechanism according to an instruction sent from the vehicle control device 10, thereby being able to control the braking force. In the case where the vehicle 100 is an electric vehicle or a hybrid vehicle, the braking system 70 may further include an energy recovery braking mechanism.

[0060] The vehicle control device 10 can be implemented by a single ECU (Electronic Control Unit) or by a combination of multiple ECUs. An ECU is a computing device including a processor, a memory, and a communication interface connected through an internal bus. Program instructions are stored in the memory, and when executed by the processor, these program instructions play the roles of corresponding functional modules and functional units. These functional modules and functional units include a control module 13 and an operation detection module 11, a switch state acquisition module 12, a lane line type acquisition module 14, a road condition acquisition module 15 ( Figure 5 , Figure 7 ) described in detail later, etc. Among them, the control module 13 may further include an action plan unit 13a, a driving control unit 13b, a prompting unit 13c ( Figure 5 ), a variable road condition parameter adjustment unit 13d ( Figure 7 ) etc.

[0061] That is, the vehicle control device 10 implements these functional modules and / or functional units by the processor executing programs (software). However, the vehicle control device 10 can also implement all or part of these functional modules and / or functional units through hardware such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit), or can also implement all or part of these functional modules and / or functional units through a combination of software and hardware.

[0062] In addition, the control module 13 is used to control the autonomous driving (autonomous movement) of the vehicle 100, etc., and includes an action plan unit 13a and a driving control unit 13b.

[0063] The action plan unit 13a is used to calculate the target trajectory of the vehicle 100 to the destination, and, based on the external environment information detected by optical sensors such as the camera 20, judge the driving condition of the vehicle 100, update the target trajectory to determine various actions of the vehicle 100. The path calculated by the above navigation device 40 is a rough path. In contrast, the target trajectory calculated by the action plan unit 13a includes, in addition to the rough path calculated by the navigation device 40, more detailed content for controlling the acceleration, deceleration, and steering of the vehicle 100.

[0064] The driving control unit 13b generates control instructions for sending to the power system 50, the steering system 60, and the braking system 70 according to the action plan provided by the action plan unit 13a, so as to be able to control the power system 50, the steering system 60, and the braking system 70, and make the vehicle 100 drive according to the action plan.

[0065] With the above structure, the vehicle 100 can implement autonomous driving modes such as Navigation Cruise Assistant (NCA) and Intelligent Cruise Assistant (ICA), and perform autonomous driving in the autonomous driving mode. The vehicle control method and vehicle control device in the embodiment of the present application can be implemented on autonomous driving vehicles with an autonomous driving level of L2-L5.

[0066] Next, with reference to FIG. 2- Figure 5 A vehicle control method and the like related to an embodiment of the present application will be described in detail.

[0067] This embodiment relates to a vehicle control method for automatic lane change when the vehicle is in the autonomous driving mode, and this vehicle control method is applied to the above autonomous driving vehicle (hereinafter referred to as the self-vehicle).

[0068] The autonomous driving modes here are, for example, the ICA mode and the NCA mode. Both belong to a type of autonomous driving mode. The main difference is that, generally, in the NCA mode, the self-vehicle drives along the navigation path, so there is a situation of automatic lane change, while in the ICA mode, if there is no automatic lane change instruction actively issued by the driver as described later, the vehicle generally will not perform automatic lane change.

[0069] In addition, in addition to the ICA mode and the NCA mode, the vehicle control method of the present embodiment can also be applied to other autonomous driving modes.

[0070] In the present embodiment, when the host vehicle is in an autonomous driving mode such as the ICA mode or the NCA mode, a navigation screen is simultaneously displayed on the in-vehicle display, and a scene of the host vehicle driving on the road is schematically displayed in the navigation screen. As another embodiment, the navigation screen may not be displayed, or the driver may select whether to display the navigation screen. In addition, in the present embodiment, an example is described in which the road includes three lanes, the middle lane is the current lane in which the host vehicle is traveling, and the right lane is the target lane that the host vehicle intends to enter.

[0071] The lane change process in the NCA mode described in the present embodiment is the same as the lane change process in the ICA mode. The main difference between the two is that the display content of the navigation screen is different. Specifically, as shown in the figure, in the NCA mode, an indication line is displayed in front of the host vehicle in the navigation screen, and this indication line represents the navigation path, while in the ICA mode, this indication line is not displayed.

[0072] Next, taking the NCA mode as an example, the lane change processing flow of the present embodiment will be described in detail.

[0073] In S100, in the NCA mode, an automatic lane change command actively issued by the driver is obtained. Here, regarding the driver actively issuing an automatic lane change command, for example, the driver manually toggles the steering lever (i.e., the turn signal switch) to switch it to a state where the right turn signal is turned on (flashing). At this time, the control device obtains a signal indicating that the steering lever is in this state, that is, receives the automatic lane change command actively issued by the driver. Here, the operation of the driver manually toggling the steering lever to switch it to a state where the right turn signal is turned on and the left turn signal is turned on is defined as issuing an automatic lane change command, which is used to command the host vehicle to change lanes from the current lane to the target lane.

[0074] After that, in S102, it is determined whether the lane change lane condition is satisfied. Specifically, according to the type information of the lane line between the current lane in which the vehicle is traveling and the target lane that the vehicle intends to enter, it is determined whether the lane line is a solid lane line or a dashed lane line. When it is a solid lane line, in traffic rules, generally, vehicles are prohibited from changing lanes to the target lane, and at this time, it is determined that the lane change lane condition is not satisfied; when it is a dashed lane line, in traffic rules, vehicles are allowed to change lanes to the target lane, and at this time, it is determined that the lane change lane condition is satisfied.

[0075] Here, according to traffic rules, the solid lane line is a no-lane-changing sign. That is, according to traffic regulations, it is prohibited for vehicles to cross the solid lane line to change lanes. The type information of the lane line between the current lane and the target lane can be obtained, for example, from electronic map data, or it can also be obtained based on the image data captured by the camera equipped on the vehicle. Additionally, in actual situations, the lane line may be a marking composed of a solid line and a dotted line parallel to it. In this case, if the current lane side is a solid line and the target lane side is a dotted line, then this lane line belongs to the solid lane line described in this application. However, if the current lane side is a dotted line and the target lane side is a solid line, then this lane line does not belong to the solid lane line described in this application.

[0076] Furthermore, as a no-lane-changing sign, in addition to the lane line sign, there are also roadside signs (such as no-overtaking signs). Therefore, the type of the lane line between the current lane and the target lane can be obtained by detecting the roadside signs (especially when it is difficult to detect the lane line based on the road surface image data captured by the camera, for example, when it is snowing). Thus, the "type information of the lane line" described in this application includes roadside sign information that can indicate the type of the lane line.

[0077] When the judgment result in S102 is "no", that is, when the lane-changing lane condition is not met, in S106, it is judged whether the lane line between the current lane and the target lane is a long solid lane line. That is, it is judged whether the solid lane line extends more than a specified distance in front of the vehicle. If it does not extend more than the specified distance, it means that there is a dotted lane line not far ahead. When the judgment result in S106 is "no", that is, when the lane line between the current lane and the target lane is not a long solid lane line, the process in S104 is executed to perform a lane-changing wait.

[0078] In addition, when the judgment result in S106 is "yes", that is, when the lane line between the current lane and the target lane is a long solid lane line, in S200, it is judged whether the solid-line-crossing lane-changing permission switch is in the on state. Specifically, that is, the state information of the solid-line-crossing lane-changing permission switch is obtained, and based on this state information, it is judged whether the solid-line-crossing lane-changing permission switch is in the on state. Here, as the name implies, the solid-line-crossing lane-changing permission switch is used to permit and prohibit vehicles from crossing the solid lane line to change lanes. Its on state indicates that vehicles are permitted to cross the solid lane line to change lanes, that is, the vehicle can cross the solid lane line to change lanes, and the off state indicates that vehicles are prohibited from crossing the solid lane line to change lanes. In this embodiment, this solid-line-crossing lane-changing permission switch is a virtual switch integrated in the vehicle control device. As another embodiment, it can also be a physical switch, for example, set on the instrument panel. Additionally, this solid-line-crossing lane-changing permission switch can be a dedicated switch or a multi-purpose switch. Here, the dedicated switch means that the solid-line-crossing lane-changing permission switch only has the function of permitting and prohibiting vehicles from crossing the solid lane line to change lanes.

[0079] Figure 3 An example (in this embodiment) of the solid-line crossing lane change permission switch is shown.

[0080] As Figure 3 shown, in this example, the solid-line crossing lane change permission switch is a virtual switch, and its name is displayed as "forced lane change", but this does not change its essential function. Additionally, in this example, the solid-line crossing lane change permission switch 16 is displayed together with other switches and the like in the automatic driving mode (specifically the NCA mode in the figure) setting interface 18. When the driver clicks on the solid-line crossing lane change permission switch 16 with the intention of turning it on, a confirmation interface 19 for asking the driver whether to confirm the opening pops up, and a disclaimer is simultaneously displayed in this confirmation interface, informing the driver that clicking the confirmation button means simultaneously signing this disclaimer.

[0081] When the judgment result in S200 is "no", that is, when the solid-line crossing lane change permission switch is in the off state, in S206, a prompt is sent to the driver to inform the driver that a lane change cannot be performed. As a specific example of this prompt, in this embodiment, the lane lines of the target lane are highlighted, for example, highlighted in red and flashed, and at the same time, a voice prompt can also be issued through the speaker of the vehicle itself. After a preset time (for example, 3 seconds) has elapsed since this information was sent, or after a preset time has elapsed since an automatic lane change instruction from the driver was obtained, in S208, normal NCA control is executed.

[0082] Additionally, when the judgment result in S200 is "yes", that is, when the solid-line crossing lane change permission switch is in the on state, in S202, lane change preparation control is executed. For example, the lane lines of the target lane are highlighted in the navigation screen, for example, highlighted in red, to prompt the driver that the vehicle itself is about to perform a solid-line crossing lane change. Additionally, a sound effect prompt can also be issued, for example, a "beep beep" sound is emitted through the speaker. The control for issuing these prompts indicating that the lane lines are solid lane lines is an example of the first control in this application.

[0083] Additionally, in S202, the driver is also informed in a text and / or voice manner that an operation to cancel the solid-line crossing lane change can be performed, and this operation is, for example, to reverse the steering lever, that is, to switch the steering lever to the state where the right turn signal is turned off. The control for issuing the prompt for "informing the driver that an operation to cancel the solid-line crossing lane change can be performed" is an example of the first control in this application.

[0084] After that, in S204, it is determined whether the lane-changing road condition is satisfied, that is, it is determined whether the road conditions of the current lane and the target lane allow the host vehicle to change lanes. For example, when there are no other vehicles within a preset range on the target lane, it is determined that the lane-changing road condition is satisfied; when there are other vehicles within the preset range on the target lane (for example, see the case of "there are other vehicles parallel to the host vehicle on the target lane" shown in S212), it is determined that the lane-changing road condition is not satisfied. Here, the preset range is an example of the lane-changing road condition parameter in this application.

[0085] When the determination result in S204 is "No", that is, when the lane-changing road condition is not satisfied, in S212, waiting control is executed to wait for the road conditions of the target lane to change to a situation that allows the host vehicle to execute a lane change. In addition, the target lane is highlighted on the navigation screen, for example, highlighted in red, to prompt the driver: "The vehicle cannot change lanes to the target lane now". In addition, on the navigation screen, the lane line between the current lane and the target lane is also highlighted with a dotted line to prompt the driver: "The vehicle regards the lane line between the current lane and the target lane as a dotted lane line". Its color can be the same as the display color of the target lane at this time (red). The specific method of "highlighting the lane line between the current lane and the target lane with a dotted line" here can be to change the originally solid lane line to a dotted line, or to superimpose a dotted line of a different color and / or a thicker line on the solid line.

[0086] In addition, on the navigation screen, the target position of the host vehicle (that is, the position of the host vehicle on the target lane when the lane change is completed) is also displayed on the target lane, and a hatching line is displayed at this target position to prompt the driver that the host vehicle cannot change lanes to this target position at present. The processing in S212 is the same as that in S112, and the subsequent processing is also the same, which will be specifically described later.

[0087] When the judgment result in S204 is "yes", that is, when the variable road condition is satisfied, and the driver does not perform the operation of canceling the lane change across the solid line within the preset time (for example, 5 seconds) or when the driver resets the steering lever (turns off the turn signal switch) and then turns the steering lever in the same direction again within the preset time (for example, 5 seconds), in S210, the control to make the host vehicle automatically change lanes across the solid line is executed, that is, the host vehicle is made to drive into the target lane by controlling the accelerator pedal, the steering wheel, etc. Here, the preset time can be counted from the receipt of the automatic lane change instruction from the driver. By executing the control to make the host vehicle automatically change lanes across the solid line only after the preset time has passed, time can be left for the driver to perform the cancellation operation. In addition, when the driver resets the steering lever and then turns the steering lever in the same direction again, it can be considered that the driver is urging the vehicle to quickly execute the automatic lane change. At this time, the possibility of an emergency is very high. Therefore, by immediately executing the control of automatically changing lanes across the solid line without waiting for the preset time to pass, a control that more conforms to the driver's intention can be executed. In addition, the "control to make the host vehicle automatically change lanes across the solid line" here is an example of the first control in this application.

[0088] In addition, in S210, the target lane is also prominently displayed on the navigation screen, and it can be highlighted in a different color, such as blue, from when the variable road condition is not satisfied, to prompt the driver: "The vehicle is about to change lanes to the target lane". In addition, on the navigation screen, the lane line between the current lane and the target lane is prominently displayed with a dotted line to prompt the driver: "The vehicle regards the lane line between the current lane and the target lane as a dotted lane line". Its color can be the same as the display color of the target lane at this time (blue).

[0089] In addition, the target position of the host vehicle (that is, the position of the host vehicle on the target lane when the lane change is completed) is also displayed on the target lane. The display of this target position does not include the above-mentioned "shadow line" in S212, that is, the display method is different from S212, to prompt the driver that the host vehicle can change lanes to this target position at this time.

[0090] In addition, in S210, for example, prompt text can be displayed on the navigation screen to inform the driver that the current lane change can be canceled through a preset operation. Or when the control to make the host vehicle change lanes across the solid line is about to start, the prompt text is displayed. In addition, the prompt can also be issued by voice. The preset operation is, for example, turning the steering switch in the reverse direction. And when the driver executes this preset operation, the current automatic lane change control is canceled. However, this processing step is not shown in the figure.

[0091] Figure 4 An example of the navigation screen at this time is shown in Figure 4As shown, in the navigation screen 200, a map 501 is displayed on the right side, and the road scene traveled by the vehicle 100 is schematically shown on the left side. Among them, the current lane is 201, the left lane is 203, and the right lane, i.e., the target lane, is 202. The target lane 202 is also highlighted, and the target position 401 of the vehicle 100 is displayed on the target lane 202. In addition, a steering indicator arrow 301 indicating a right turn at this time is displayed in the upper part of the left side of the display screen, and the steering indicator arrow 301 blinks. In addition, the text "About to force a lane change" is displayed in the text prompt area 204 of the navigation screen 200 to prompt the driver that the vehicle 100 is about to make a lane change across the solid line. At the same time, the text "Reverse lever operation can cancel" is also displayed to prompt the driver that the lane change across the solid line can be cancelled by operating the steering lever in the reverse direction.

[0092] In S214, it is determined (monitored) in real time whether the road conditions of the target lane meet the lane change conditions. For example, when there are no other vehicles within the preset range on the target lane, it is determined that the lane change conditions are met; when there are other vehicles within the preset range on the target lane (for example, see the situation of "other vehicles following closely behind the vehicle on the target lane during the lane change of the vehicle" shown in S218), it is determined that the lane change conditions are not met.

[0093] When the judgment result in S214 is "yes", the control to make the vehicle cross the solid line for lane change is continued until the lane change is completed in S216. In addition, in S216, when the automatic lane change is completed, the lane lines on both sides of the target lane are highlighted, for example, displayed in the above-mentioned blue color.

[0094] When the judgment result in S214 is "no", it is determined as "obstructed during lane change" in S218, and the control to make the vehicle cross the solid line for lane change is stopped. At this time, the display mode of the navigation screen is the same as that in S212.

[0095] After that, in S124, it is judged whether the conditions for automatically returning to the current lane are met, that is, it is judged whether the road conditions of the current lane allow the vehicle to return to the current lane for normal driving. For example, when there are no other vehicles within the preset range of the current lane, it is judged that the conditions for automatically returning to the current lane are met. At this time, in S126, it is determined as "lane change cancelled", and the control to make the vehicle return to the current lane for driving is executed.

[0096] In addition, referring to the screen in S128, when the host vehicle moves laterally between the current lane and the target lane and drives while straddling the solid lane line, if another vehicle in the left lane changes lanes into the current lane of the host vehicle and obstructs the host vehicle from returning to the current lane, at this time, it is determined in S124 that the condition for automatically returning to the current lane is not met. When it is determined in S124 that the condition for automatically returning to the current lane is not met, in S128, a prompt is issued to the driver by means of sound effects, text, and / or voice, informing the driver that the driver should take over the host vehicle. After that, in S130, when the driver takes over the vehicle by operating the steering wheel or the like, the host vehicle travels according to the driver's operation, etc.

[0097] With the present embodiment as described above, when an automatic lane change instruction (S100) generated by the driver's operation is received and the solid line crossing lane change permission switch is in the on state, control is executed to cause the host vehicle to change lanes. Thus, for example, in an emergency avoidance situation or the like, the host vehicle can cross the solid line to change lanes, avoiding mechanical driving in accordance with the "prohibition of crossing the solid line to change lanes" rule, which may cause accidents or inconveniences, thereby improving the flexibility of the automatic driving control. In addition, this automatic lane change is triggered by the operation of the driver (person), thereby maintaining human control as the highest priority, safeguarding the subjective intervention authority of the person, and enabling the automatic driving technology to better serve people; moreover, reserving the highest judgment right for lane change to the driver can make up for the lack of judgment of the automatic driving technology on the driver's emotions and better meet the personalized needs of different drivers, respecting the driving intention of the driver.

[0098] The meaning of "automatic lane change" is that the vehicle changes lanes in the automatic driving mode, and the acceleration / deceleration instructions and steering instructions during lane change do not originate from the driver's operations on the accelerator pedal, brake pedal, and steering wheel, but from the autonomous decision-making of the vehicle control device.

[0099] The above mainly describes the processing flow when the lane line between the current lane and the target lane is a solid lane line. The following describes the processing flow when the lane line is a dashed lane line.

[0100] When the judgment result in S102 is "yes", that is, the lane change lane condition is met, or when the judgment result in S106 is "no", that is, the lane line between the current lane and the target lane is not a solid lane line (is a dashed lane line), in S104, a lane change wait is performed. After that, in S108, it is judged whether the lane change road condition is met. For example, when there are no other vehicles within a preset range on the target lane, it is judged that the lane change road condition is met; when there are other vehicles within the preset range on the target lane (for example, see the situation of "there are other vehicles parallel to the host vehicle on the target lane" shown in S112), it is judged that the lane change road condition is not met.

[0101] When the judgment result in S108 is "No", that is, when the lane-changing road conditions are not met, in S112, waiting control is executed to wait for the road conditions of the target lane to change to a situation that allows the host vehicle to execute a lane change. In addition, the target lane is prominently displayed on the navigation screen, for example, highlighted in red. Among them, the lane lines between the current lane and the target lane are displayed as dotted lines, and their color can be the same as the display color of the target lane. In addition, the target position of the host vehicle is also displayed on the target lane, and a hatching line is displayed at this target position to prompt the driver that the host vehicle cannot currently change lanes to this target position.

[0102] After that, in S116, it is judged whether the lane-changing road conditions are met, that is, it is judged whether the road conditions of the current lane and the target lane allow the host vehicle to execute a lane change. When the judgment result in S116 is "Yes", that is, when the road conditions allow the host vehicle to execute a lane change, the processing in S110 is executed, which will be specifically described later. When the judgment result in S116 is "No", that is, when the road conditions do not allow the host vehicle to execute a lane change, the processing in S120 is executed. In S120, since the lane change cannot be performed for a long time, it is determined as "lane change cancelled", and this lane change is abandoned. Moreover, a prompt can be sent to the driver. For example, the lane lines of the current lane are prominently displayed, such as highlighting the two side lane lines of the current lane in blue.

[0103] When the judgment result in S108 is "Yes", that is, when the lane-changing road conditions are met, in S110, the control to make the host vehicle cross the solid line for a lane change is executed, that is, the host vehicle is steered into the target lane by controlling the accelerator pedal and the steering wheel, etc. In addition, the target lane is prominently displayed on the navigation screen, and it can be highlighted in a different color, such as blue, from when the lane-changing road conditions are not met. Among them, the lane lines between the current lane and the target lane are displayed as dotted lines, and their color can be the same as the display color of the target lane. In addition, the target position of the host vehicle is also displayed on the target lane, and the "hatching line" described in S112 is not included in the display of this target position, that is, the display method is different from that in S112, to prompt the driver that the host vehicle can change lanes to this target position at this time.

[0104] In S114, it is judged (monitored) whether the road conditions of the target lane meet the lane change conditions. For example, when there are no other vehicles within the preset range on the target lane, it is judged that the lane change conditions are met; when there are other vehicles within the preset range on the target lane (for example, see the situation of "other vehicles that follow closely behind the host vehicle on the target lane during the lane change process" shown in S122), it is judged that the lane change conditions are not met.

[0105] When the determination result in S114 is "Yes", continue to execute the control for the host vehicle to change lanes across the solid line until the lane change is completed in S118. Additionally, in S118, when the automatic lane change is completed, highlight the lane lines on both sides of the target lane, for example, display them in the above-mentioned blue color.

[0106] When the determination result in S114 is "No", it is determined as "obstructed during lane change" in S122, and the control for the host vehicle to change lanes across the solid line is stopped. At this time, the display mode of the navigation screen is the same as that in S212. After that, the processing in S124 is executed. Since the processing in S124 and the subsequent processing have been described above, they will not be repeated here.

[0107] In the above description, the driver issues an automatic lane change instruction by toggling the steering lever (turn signal switch). However, the present application is not limited to this. For example, the automatic lane change instruction can also be issued by means such as gesture operation in the air or voice operation. The operation of the driver to switch the turn signal switch to the on state, the gesture operation in the air, and the voice operation correspond to the first operation in the present application.

[0108] Additionally, in the above description, in S102 and S106, it is determined whether the lane line type between the current lane and the target lane is a solid lane line or a dashed lane line, and different controls are executed according to the different lane line types. However, the present application is not limited to this. For example, the processing of S102 and S106 can be omitted, without distinguishing between solid lane lines and dashed lane lines. That is, regardless of whether the lane line type between the current lane and the target lane is a solid lane line or a dashed lane line, when the cross-solid-line lane change permission switch is turned on, it is regarded as a dashed lane line.

[0109] This embodiment also provides a vehicle control device for executing the above vehicle control method. As Figure 5 shown, the vehicle control device 10 has an operation detection module 11, a switch state acquisition module 12, a control module 13, a lane line type acquisition module 14, a road condition acquisition module 15, and a cross-solid-line lane change permission switch 16. These modules can be implemented by hardware or software. The specific implementation methods have been described above and will not be repeated here.

[0110] The operation detection module 11 detects the driver's operation by acquiring the switch signal of the steering lever. This operation is used to issue an automatic lane change instruction to command the host vehicle 100 to automatically change lanes from the current lane to the target lane.

[0111] In this embodiment, the cross-solid-line lane change permission switch 16 is a virtual switch integrated in the control device 10. For examples, refer to Figure 3 .

[0112] The switch state acquisition module 12 is configured to detect the state information of the solid line crossing lane change permission switch 16, and this state information indicates that the solid line crossing lane change permission switch 16 is in an open state or a closed state.

[0113] The control module 13 includes the above-mentioned action plan unit 13a, the above-mentioned driving control unit 13b, and the prompt unit 13c. The action plan unit 13a and the driving control unit 13b have been described above and will not be repeated here. The prompt unit 13c is configured to control the issuance of various prompts, including the sound effect prompt, the displayed text prompt, the displayed screen prompt, and the voice prompt described above.

[0114] The lane line type acquisition module 14 is configured to acquire the type information of the lane line between the current lane and the target lane, and this type information is obtained, for example, based on the processing result of the road surface image captured by the camera 20.

[0115] The road condition acquisition module 15 is configured to acquire the road condition information of the target lane, and this road condition information is obtained, for example, based on the processing result of the image captured by the camera 20.

[0116] In the above control method, the processing in S100 to S130 and S200 to S218 is mainly executed by the control module 13, and the information required during the execution is correspondingly acquired by the operation detection module 11, the switch state acquisition module 12, the lane line type acquisition module 14, and the road condition acquisition module 15.

[0117] In addition, the present embodiment also provides a computer program, a computer-readable storage medium, and a computing device. The computing device has a processor and a computer-readable storage medium. A computer program (program instruction) is stored in the computer-readable storage medium, and when the program instruction is executed by the computer (processor), the processing in S100 to S130 and S200 to S218 is executed.

[0118] Furthermore, the present embodiment also provides a vehicle having the above vehicle control device. This vehicle can be a household car or a truck, etc., and can also be a special vehicle such as an ambulance, a fire truck, a police car, or an engineering rescue vehicle, etc.

[0119] Next, refer to Figure 6 、 Figure 7 to describe the vehicle control method and the like related to another embodiment of the present application.

[0120] This embodiment relates to a vehicle control method for automatic lane change when the vehicle is in the autonomous driving mode. The main difference between this embodiment and the above-mentioned embodiment is that when the driver issues an automatic lane change command by operating the turn signal switch or the like, the vehicle activates the "aggressive lane change" function, adjusts the lane change road condition parameters, and makes the road condition of the target lane easier to meet, so that the vehicle can insert into the vehicle queue on the target lane as much as possible while ensuring safety according to the actual road conditions. Here, "meeting the lane change road condition parameters" can be, for example, whether the distance between the vehicle after predicting the completion of the lane change and other vehicles on the target lane is above a distance threshold (referred to as the safety distance), whether there are other vehicles in the preset range on the target lane before the lane change, and whether the speed of the other vehicle is lower than the speed threshold, etc. The meaning of "making the road condition of the target lane easier to meet" is, for example, reducing the preset above-mentioned safety distance, narrowing the above-mentioned preset range, and raising the preset above-mentioned speed threshold.

[0121] The following refers to Figure 6 to describe the vehicle control method for automatic lane change in this embodiment. In addition, in the following description, the vehicle being in the ICA mode is taken as an example for illustration. Furthermore, in the following description, for the same parts as the above-mentioned embodiment, the same reference numerals are added, and the description thereof is appropriately omitted or described briefly.

[0122] As Figure 6 shown, in S100, in the ICA mode, an automatic lane change command actively issued by the driver is obtained. After that, when the automatic lane change command is obtained, in S102, it is judged whether the lane change lane condition is met, that is, it is judged whether the type of the lane line between the current lane and the target lane is a dotted lane line.

[0123] When the judgment result in S102 is "no", that is, when the lane change lane condition is not met, in S106, it is judged whether the lane line between the current lane and the target lane is a long solid lane line. When the judgment result in S106 is "no", that is, when the lane line between the current lane and the target lane is not a long solid lane line, the process in S104 is executed to perform a lane change wait.

[0124] In addition, when the judgment result in S102 is "yes", that is, when the lane change lane condition is met, the process in S104 is also executed. Here, the process of S104 and the subsequent processes are the same as those Figure 2B shown, and the detailed description thereof is omitted.

[0125] In addition, when the judgment result in S106 is "yes", that is, when the lane line between the current lane and the target lane is a long solid line lane line, in S200, it is judged whether the solid line crossing lane change permission switch is in the on state. When the judgment result in S200 is "no", that is, when the solid line crossing lane change permission switch is in the off state, the process in S206 is executed.

[0126] When the judgment result in S200 is "yes", that is, when the solid line crossing lane change permission switch is in the on state, the process in S302 is executed. In S302, lane change preparation control is executed. Here, the lane change road condition parameters are adjusted, and the adjusted lane change road condition parameters are more likely to be satisfied than before the adjustment. The control of "adjusting the lane change road condition parameters" here is an example of the first control in this application.

[0127] In addition, on the navigation screen, the target lane is highlighted, for example, highlighted in red. At the same time, the lane line between the current lane and the target lane is highlighted with a dotted line. Furthermore, the driver is also informed in text and / or voice that the operation of canceling the solid line crossing lane change can be performed. This operation is, for example, to reverse the steering lever, that is, to switch the steering lever to the state where the right turn signal is turned off.

[0128] After that, in S304, it is judged whether the lane change road condition is satisfied, that is, it is judged whether the road conditions of the current lane and the target lane allow the vehicle to change lanes. For example, when there are no other vehicles in the (adjusted) preset range on the target lane, it is judged that the lane change road condition is satisfied; when there are other vehicles in the preset range on the target lane (for example, see the situation of "there are other vehicles parallel to the vehicle itself on the target lane" shown in S312), it is judged that the lane change road condition is not satisfied. The preset range here corresponds to the lane change road condition parameter in this application.

[0129] When the judgment result in S304 is "no", that is, when the lane change road condition is not satisfied, in S312, waiting control is executed to wait for the road conditions of the target lane to change to a situation where the vehicle can execute a lane change. In addition, on the navigation screen, the target lane is highlighted, for example, highlighted in red, to prompt the driver: "The vehicle cannot change lanes to the target lane now". In addition, on the navigation screen, the lane line between the current lane and the target lane is also highlighted with a dotted line to prompt the driver: "The vehicle regards the lane line between the current lane and the target lane as a dotted line lane line". Its color can be the same as the display color of the target lane at this time (red). In this embodiment, the highlighting method of the target lane and the lane line between the target lane and the current lane in S312 is the same as that in S302.

[0130] When the judgment result in S304 is "yes", that is, when the variable road condition is satisfied, and the driver does not perform the operation of canceling the lane change across the solid line within the preset time (for example, 5 seconds) or when the driver resets the steering lever (turns off the turn signal switch) within the preset time (for example, 5 seconds) and then turns the steering lever in the same direction again, in S310, the control to make the host vehicle automatically change lanes across the solid line is executed, that is, the host vehicle is made to drive into the target lane by controlling the accelerator pedal and the steering wheel, etc.

[0131] Here, since the variable road condition parameter is adjusted to be more easily satisfied than in the normal situation (for example, the situation in S108), therefore, as shown in S310, the host vehicle can execute an automatic lane change when there is a very small gap between vehicles in the target lane, and insert into the vehicle queue on the target lane. Figure 6 As shown in S310, the host vehicle can execute an automatic lane change when there is a very small gap between vehicles in the target lane, and insert into the vehicle queue on the target lane.

[0132] In addition, in the present embodiment, in S310, the target lane and the lane lines between the target lane and the current lane are highlighted in the same manner as in S310.

[0133] After that, during the lane change process, in S314, it is determined in real time (monitored) whether the road condition of the target lane satisfies the lane change condition. For example, when there are no other vehicles within the preset range on the target lane, it is determined that the lane change condition is satisfied; when there are other vehicles within the preset range on the target lane (for example, see the situation of "the gap where the host vehicle intends to insert on the target lane becomes smaller during the lane change of the host vehicle" shown in S318), it is determined that the lane change condition is not satisfied.

[0134] When the judgment result in S314 is "yes", the control to make the host vehicle change lanes across the solid line is continued until the lane change is completed in S316. In addition, in S316, when the automatic lane change is completed, the lane lines on both sides of the target lane are highlighted, for example, displayed in blue.

[0135] When the judgment result in S314 is "no", it is determined as "obstructed during the lane change process" in S318, and the control to make the host vehicle change lanes across the solid line is stopped. At this time, the target lane and the lane lines between the target lane and the current lane are highlighted in the same manner as in S3 in the navigation screen.

[0136] After that, in S124, it is determined whether the condition for automatically returning to the current lane is satisfied, that is, it is determined whether the road condition of the current lane allows the host vehicle to return to the current lane and drive normally. The processing in S124 and the subsequent S126, S128, and S130 is the same as that in the above embodiment, and the detailed description thereof is omitted here.

[0137] In the present embodiment described above, when the driver issues an automatic lane change command by turning on the turn signal switch or the like, and the solid line crossing lane change permission switch is in the on state, the lane change road condition parameter is adjusted to make it easier to be satisfied. Thus, it is easier for the vehicle to change lanes, and the vehicle can more appropriately respond to the driver's requirements.

[0138] The lane change road condition parameter here indicates the road condition that the target lane should satisfy when the vehicle automatically changes lanes. That is, when the road condition of the target lane satisfies the road condition indicated by the lane change road condition parameter, the vehicle is permitted to automatically change lanes. When the road condition of the target lane does not satisfy the road condition indicated by the lane change road condition parameter, the vehicle is prohibited from automatically changing lanes.

[0139] In the above description, when the lane line between the current lane and the target lane is a solid lane line, the lane change road condition parameter is adjusted. As a variant of the present embodiment, when the lane line between the current lane and the target lane is a dashed lane line, the lane change road condition parameter can also be adjusted. That is, the adjustment of the lane change road condition parameter does not take knowing the type of the lane line as a prerequisite.

[0140] In addition, the present embodiment also provides a vehicle control device, which is applied to vehicle 100 and is used to execute the above vehicle control method. Figure 7 The structural schematic block diagram of the vehicle control device is shown. Different from Figure 5 that in, in the control module of the vehicle control device 10 in the present embodiment, there is also a lane change road condition parameter adjustment unit 13d, which is used to execute the adjustment of the lane change road condition parameter mentioned in the description of S302. Other structures are the same as Figure 5 those in, and the repeated description thereof is omitted here.

[0141] In the above control method, the processes in S100 to S130, S200, S206, S302 to S318 are mainly executed by the control module 13, and the information required during execution is correspondingly obtained by the operation detection module 11, the switch state acquisition module 12, the lane line type acquisition module 14, and the road condition acquisition module 15.

[0142] In addition, the present embodiment also provides a computer program, a computer-readable storage medium, and a computing device. The computing device has a processor and a computer-readable storage medium. A computer program (program instruction) is stored in the computer-readable storage medium. When the program instruction is executed by the computer (processor), the processes in the above S100 to S130, S200, S206, S302 to S318 are executed.

[0143] Note that the above is only a preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments only. Without departing from the concept of the present application, more other equivalent embodiments can be included, all of which fall within the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that, it includes: detecting a first operation of the driver of the vehicle, the first operation being used to command the vehicle to change lanes from the current lane to the target lane; obtaining status information of the solid line crossing lane change permission switch of the vehicle; when it is detected that the status information indicates that the solid line crossing lane change permission switch is in the open state, and when the first operation is detected again within a preset time after the start of the first operation, or after a preset time has elapsed since the detection of the first operation, performing a first control, the first control including causing the vehicle to change lanes.

2. The vehicle control method according to claim 1, characterized in that, it further includes: obtaining type information of the lane lines between the current lane and the target lane; when the type information indicates that the lane lines are solid lane lines, the first control further includes issuing a prompt for indicating that the lane lines are solid lane lines.

3. The vehicle control method according to claim 2, characterized in that, the prompt includes a sound effect prompt, a display text prompt and / or a voice prompt.

4. The vehicle control method according to any one of claims 1-3, characterized in that, the first control further includes adjusting the lane change road condition parameter, the lane change road condition parameter indicating the conditions that the road condition of the target lane should meet when the vehicle changes lanes, wherein the adjusted lane change road condition parameter is more easily satisfied than before adjustment; the vehicle control method further includes: obtaining the road condition information of the target lane; when the road condition indicated by the road condition information meets the conditions indicated by the adjusted lane change road condition parameter, causing the vehicle to change lanes.

5. The vehicle control method according to any one of claims 1-3, characterized in that, the first operation is to switch the turn signal switch to a state where the left turn signal or the right turn signal is turned on.

6. A vehicle control device, characterized in that, it includes: an operation detection module for detecting a first operation of the driver of the vehicle, the first operation being used to command the vehicle to change lanes from the current lane to the target lane; a switch state acquisition module for obtaining status information of the solid line crossing lane change permission switch of the vehicle; a control module for, when it is detected that the status information indicates that the solid line crossing lane change permission switch is in the open state, and when the first operation is detected again within a preset time after the start of the first operation, or after a preset time has elapsed since the detection of the first operation, performing a first control, the first control including causing the vehicle to change lanes.

7. The vehicle control device according to claim 6, characterized in that, it further includes a lane line type acquisition module for obtaining type information of the lane lines between the current lane and the target lane; when the type information indicates that the lane lines are solid lane lines, the first control further includes issuing a prompt for indicating that the lane lines are solid lane lines.

8. The vehicle control device according to claim 7, characterized in that, The prompt includes a sound effect prompt, a display text prompt, and / or a voice prompt.

9. The vehicle control device according to any one of claims 6-8, wherein, the first control executed by the control module further includes adjusting the variable road condition parameter, where the variable road condition parameter indicates the conditions that the road condition of the target lane should meet when the vehicle changes lanes, and wherein the adjusted variable road condition parameter is more easily satisfied than before adjustment; the vehicle control device further includes a road condition acquisition module, and the road condition acquisition module is used to acquire the road condition information of the target lane; when the road condition indicated by the road condition information meets the conditions indicated by the adjusted variable road condition parameter, the control module executes the control to make the vehicle change lanes.

10. The vehicle control device according to any one of claims 6-8, wherein, the first operation is to switch the turn signal switch to a state where the left turn signal or the right turn signal is turned on.

11. A vehicle, wherein, it includes the vehicle control device according to any one of claims 6-10.

12. The vehicle according to claim 11, wherein, it is a special vehicle, and the special vehicle includes an ambulance, a fire truck, a police car, or an engineering rescue vehicle.

13. A computer-readable storage medium, on which program instructions are stored, wherein, when the program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1-5.

Images