Lane changing control method, device, equipment, vehicle and medium

Abstract

The present application discloses a lane change control method, device, equipment, vehicle and medium, which includes: obtaining the control signal generated by the turn signal lever of the current vehicle during driving; determining the target lane according to the control signal; judging whether the current vehicle switches to the target lane according to the body distribution of the initial lane and the target lane of the current vehicle before changing lanes, and the change of the control signal; and controlling the current vehicle to change lanes according to the judgment result. The technical solution of the embodiment of the present application judges whether the current vehicle switches to the target lane according to the body distribution of the vehicle in the initial lane and the target lane, and the change of the control signal. This can accurately determine the driver's true intention to change lanes, prevent possible violations or accidents caused by the manipulation of the turn signal lever during the lane change, improve driving safety, and enhance the driver's driving experience.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a lane change control method, device, equipment, vehicle and medium. Background Art

[0002] With the promotion of the concept of smart transportation, more and more manufacturers are focusing on the field of autonomous driving. With the support of artificial intelligence technology, the lane keeping and automatic cruising capabilities of autonomous vehicles have been significantly improved, but the lane changing capabilities during driving still need to be improved.

[0003] The current automatic lane-changing method for self-driving vehicles uses multiple sensors to identify the driver's control situation inside the car and the road conditions outside the car, and controls the vehicle to automatically change lanes. However, this method has simple control logic and poor lane-changing safety. Summary of the invention

[0004] The present application provides a lane change control method, device, equipment, vehicle and medium to improve the safety of an autonomous driving vehicle during an automatic lane change process.

[0005] According to one aspect of the present application, a lane change control method is provided, comprising:

[0006] Obtain the control signal generated by the turn signal lever of the current vehicle during driving;

[0007] Determine the target lane according to the control signal;

[0008] Determine whether the current vehicle should switch to the target lane based on the vehicle body distribution in the initial lane and the target lane before the lane change, as well as the change in the control signal;

[0009] Based on the judgment result, the current vehicle is controlled to change lanes.

[0010] According to another aspect of the present application, a lane change control device is provided, comprising:

[0011] A control signal acquisition module is used to obtain the control signal generated by the turn signal control lever of the current vehicle during driving;

[0012] A target lane determination module, used to determine the target lane according to the control signal;

[0013] The lane-changing intention judgment module is used to judge whether the current vehicle should switch to the target lane according to the vehicle body distribution of the initial lane and the target lane before the lane change, as well as the change of the control signal;

[0014] The vehicle lane-changing control module is used to control the current vehicle to change lanes according to the judgment result.

[0015] According to another aspect of the present application, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the lane change control method described in any embodiment of the present application.

[0019] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the lane change control method described in any embodiment of the present application when executed.

[0020] The technical solution of the embodiment of the present application determines whether the current vehicle has switched to the target lane based on the vehicle body distribution in the initial lane and the target lane, as well as the change in the control signal. This can accurately determine the driver's true lane-changing intention, prevent possible violations or accidents caused by the manipulation of the turn signal lever during the lane-changing process, improve driving safety, and enhance the driver's driving experience.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1A is a flow chart of a lane change control method provided according to Embodiment 1 of the present application;

[0024] Figure 1B is a schematic diagram of a vehicle lane changing process provided according to Embodiment 1 of the present application;

[0025] Figure 2A is a flow chart of a lane change control method provided according to Embodiment 2 of the present application;

[0026] Figure 2BThis is a schematic diagram of vehicle body distribution calculation provided in Example 2 of the present application;

[0027] Figure 2C is a schematic diagram of a lane change control process provided in Embodiment 2 of the present application;

[0028] Figure 3 is a structural schematic diagram of a lane change control device provided according to Embodiment 3 of the present application;

[0029] Figure 4 It is a schematic diagram of the structure of an electronic device that implements the lane change control method of an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1A A flowchart of a lane change control method is provided for the first embodiment of the present application. This embodiment is applicable to the case where the driver's lane change intention is determined during the lane change process. The method can be executed by a lane change control device, which can be implemented in the form of hardware and / or software. The lane change control device can be configured in an electronic device, which can also be set in an automatic driving vehicle. As shown in Figure 1, the method includes:

[0034] S110, obtaining a control signal generated by a turn signal control lever of the current vehicle during driving.

[0035] Among them, the control signal of the turn signal lever can be a turn signal generated after receiving the operation of the turn signal lever. Since the embodiment of the present application is applicable to lane change control when the current vehicle is an automatic driving vehicle, the control signal of the turn signal control sense can also be a control signal for instructing the current vehicle to change lanes and / or turn. It can be seen that during the driving process of the current vehicle (for example, automatic cruise mode, lane keeping mode), steering and / or lane change can be performed according to the control signal of the turn signal lever.

[0036] S120: Determine the target lane according to the control signal.

[0037] The target lane may be another lane where the current vehicle has a tendency to change lanes (different from the lane where the current vehicle is traveling). According to the control signal obtained in the above steps, it can be determined that the current vehicle is about to change lanes to another lane, which may be the left lane or the right lane of the lane where the current vehicle is traveling. It is understandable that when the turn signal lever of the current vehicle is turned to the left turn signal on, the target lane can be determined to be the left lane of the current lane; similarly, when the turn signal lever of the current vehicle is turned to the right turn signal on, the target lane can be determined to be the right lane of the lane ahead.

[0038] S130: Determine whether the current vehicle is switched to the target lane according to the vehicle body distribution of the initial lane and the target lane before the lane change and the change of the control signal.

[0039] Among them, the initial lane before changing lanes can be the current lane in which the current vehicle is traveling. Of course, in actual situations, the current vehicle may change lanes continuously, that is, change lanes at least twice. In this case, the initial lane before changing lanes can be the previous lane before switching to the target lane. It can be understood that the initial lane described in the embodiment of the present application should be adjacent to the target lane, that is, the initial lane and the target lane form three lane lines corresponding to the road conditions of two lanes. The body distribution situation can be the proportion of the body occupied by the current vehicle in the target lane, that is, when the current vehicle switches to the target lane, the proportion of the part of the body located in the target lane to the entire body is used as the body distribution situation; of course, the body distribution situation can also be determined by comparing the proportion of the body of the current vehicle in the target lane with the proportion of the body that remains in the initial lane; the body distribution situation can also be determined according to the distance of the vehicle from the outer lane lines of the two lanes. The embodiment of the present application only describes the body distribution situation, and the above examples cannot be considered as limitations on the embodiments of the present application.

[0040] It can be understood that after the current vehicle obtains the control signal of the turn signal lever, it changes lanes according to the change of the control signal. When the control signal is a left turn signal, it can be determined that the target lane is the left lane of the initial lane, that is, the lane is changed to the left; similarly, when the control signal is a right turn signal, it can be determined that the target lane is the right lane of the initial lane, that is, the lane is changed to the right.

[0041] It should be noted that if the current vehicle is changing lanes, Figure 1B The schematic diagram of the vehicle lane changing process shown in the figure shows that when the current vehicle determines that the control signal changes from the signal of no lane change to the signal of left lane change, the current vehicle changes lanes from the initial lane to the target lane, and the vehicle must pass the lane line between the two lanes. If the control signal changes again during the process of crossing the lane line, for example, the driver touches the turn signal control lever intentionally or unintentionally, causing the control signal to change again during the lane change process. At this time, according to the distribution of the vehicle body, it is determined which lane the vehicle is more inclined to, and then the vehicle is controlled to change lanes or return to the initial lane.

[0042] Continue with Figure 1B For example, in actual situations, the driver may have some operations that cause the control signal to change. Figure 1B In the lane-changing process of the vehicle shown in the figure, it is assumed that the current vehicle switches from the initial lane to the target lane on the left, and the turn signal lever is operated during the lane-changing process. There are two situations at this time: turning off the turn signal or turning the turn signal in reverse (i.e., changing to the right turn signal). If the turn signal is turned in reverse at this time, it can be judged that the driver does not want to change lanes out of subjective intention, and the current vehicle should return to the initial lane; if the operation at this time is to turn off the turn signal, the vehicle has already crossed the lane line during the lane-changing process (the vehicle must pass the lane line when changing lanes), and it is necessary to flexibly judge whether the driver wants to continue changing lanes until the lane change is completed. Therefore, by calculating the body distribution of the current vehicle body in the target lane and the initial lane, it is judged whether to complete the lane change or return to the initial lane. If the body is distributed more in the target lane, it is determined that the lane change is completed; if the body is distributed less in the target lane, it is determined to return to the initial lane. It is understandable that in actual situations, some drivers have not developed good driving habits. Before completing the lane change, they think that the vehicle has crossed the lane line and changed lanes, and randomly turn off the turn signal lever. This may greatly cause the autonomous driving vehicle to be unable to complete the lane change, violate traffic regulations, or even cause an accident. Therefore, the technical solution of the embodiment of the present application can avoid this problem during the lane change process.

[0043] S140. Control the current vehicle to change lanes according to the judgment result.

[0044] Based on the determination result of whether to switch to the target lane determined in the aforementioned steps, the current vehicle can drive in a lane-changing mode or not.

[0045] The technical solution of the embodiment of the present application determines whether the current vehicle has switched to the target lane based on the vehicle body distribution in the initial lane and the target lane, as well as the change in the control signal. This can accurately determine the driver's true lane-changing intention, prevent possible violations or accidents caused by the manipulation of the turn signal lever during the lane-changing process, improve driving safety, and enhance the driver's driving experience.

[0046] Embodiment 2

[0047] Figure 2A This is a flow chart of a lane change control method provided in the second embodiment of the present application. This embodiment is based on the previous embodiment and refines the judgment operation of whether the current vehicle switches lanes to determine whether the driver intends to continue changing lanes or return to the original lane during the lane change process. Figure 2A As shown, the method includes:

[0048] S210: Acquire a control signal generated by a turn signal control lever of the current vehicle during driving.

[0049] S220: Determine the target lane according to the control signal.

[0050] S230: If the control signal is switched to the off state, determine whether the current vehicle switches to the target lane according to the vehicle body distribution.

[0051] If the control signal of the turn signal control lever changes from the turn signal on (left turn signal or right turn signal) to the turn signal off, it can be determined whether the current vehicle is changing lanes based on the vehicle body distribution described in the above embodiment.

[0052] In an optional implementation, the lane change control method may further include: acquiring a lane image of the current vehicle's traveling direction; determining, based on the lane image, a relative distance between the current vehicle and two outer lane lines of an initial lane and a target lane; and determining a vehicle body distribution condition based on the relative distance.

[0053] The lane image of the current vehicle's traveling direction can be understood as an image taken in front of the vehicle during its driving process, which can be acquired in real time through a camera. Based on the acquired lane image, the distance between the current vehicle and the outer lane lines of the two lanes is calculated to determine the vehicle body distribution.

[0054] Exemplarily, a lane image in the direction of travel can be obtained through a camera, and lane line information can be output based on the lane image according to a preset image processing algorithm. The preset image processing algorithm can adopt any lane line recognition algorithm in the prior art, and the embodiments of the present application are not limited to this. For example, a lane line reconstruction algorithm can be used to output the lane line position based on the lane image obtained by the camera, and the lane lines are graded in quality. According to the preset lane line reconstruction algorithm, the lane lines with poor quality or that cannot be recognized are reasonably reconstructed based on the lane lines on the side with better quality, and finally the lane line information that can be used to calculate the distribution of the vehicle body is obtained.

[0055] In the above implementation, the vehicle body distribution is determined by acquiring a lane image and then calculating the relative distance between the current vehicle and the two outer lane lines of the initial lane and the target lane. This provides an accurate and effective basis for determining the vehicle body distribution, and by converting the vehicle body distribution into identifying the distance between the current vehicle and the two outer lanes for judgment, the judgment efficiency is improved, which is helpful for subsequent lane change control based on the vehicle body distribution.

[0056] In an optional implementation, if the control signal is switched to an off state, determining whether the current vehicle switches to a target lane based on a vehicle body distribution condition may include: if the vehicle body distribution condition is close to a target lane, determining that the current vehicle switches to a target lane.

[0057] The body distribution may include being close to the target lane or close to the initial lane. It is understandable that during the lane change process, the control signal changes from the turn signal on to the off state. If the body of the current vehicle is close to the target lane at this time, it is determined that the current vehicle is changing lanes.

[0058] Optionally, if the vehicle body distribution is close to the target lane, determining that the current vehicle switches to the target lane may include: if the relative distance between the current vehicle and the outer lane line of the initial lane is not less than the relative distance between the current vehicle and the outer lane line of the target lane, determining that the current vehicle switches to the target lane.

[0059] Since the target lane is adjacent to the initial lane (i.e., the three lanes are divided into two lanes as described above), during the current vehicle lane change process, if Figure 2B As shown, through the lane image and lane line information obtained in the above steps, the distance CD between the current vehicle and the outer lane line of the target lane and the distance EF between the current vehicle and the outer lane line of the initial lane are calculated, and according to the size of CD and EF, it is determined whether the current vehicle should switch to the target lane. When CD is not less than EF, it is determined that the current vehicle switches to the target lane.

[0060] In another optional implementation, if the control signal is switched to an off state, determining whether the current vehicle switches to a target lane based on a vehicle body distribution condition may include: if the vehicle body distribution condition is close to an initial lane, determining that the current vehicle does not switch to a target lane.

[0061] It is understandable that during the lane change process, if the control signal of the turn signal changes from on to off, and if the body of the current vehicle is close to the initial lane at this time, it is determined that the current vehicle cannot change lanes (i.e. return to the initial lane).

[0062] Optionally, if the vehicle body distribution is close to the initial lane, determining that the current vehicle does not switch to the target lane may include: if the relative distance between the current vehicle and the outer lane line of the initial lane is less than the relative distance between the current vehicle and the outer lane line of the target lane, determining that the current vehicle does not switch to the target lane. Figure 2B As shown, continuing with the previous example, when CD is less than EF, it is determined that the current vehicle does not change lanes.

[0063] S240: Control the current vehicle to change lanes according to the judgment result.

[0064] The technical solution of this embodiment determines whether to change lanes based on the vehicle body distribution when the control signal is switched to the off state. The advantage of this is that the driver's true lane changing intention can be obtained during the lane changing process, helping the vehicle to safely change lanes or return to the initial lane to maintain it, thereby improving the safety and flexibility of the vehicle's lane changing and making the vehicle's lane changing capability more intelligent.

[0065] The determination of the relative distance between the current vehicle and the two outer lane lines of the initial lane and the target lane is described by taking an example. Figure 2B This is a schematic diagram of the calculation of the vehicle body distribution provided in the second embodiment of the present application. Figure 2B As shown, the camera can be set at the front of the current vehicle, for example Figure 2B At the position of the midpoint O, the camera can directly output the lengths of OA and OH, that is, OA and OH are calculated based on the acquired lane image and the preset algorithm. In actual situations, due to the different locations of the camera in the front of the vehicle body, calculation errors may occur, so the distance from the edge of the vehicle to the lane line is calculated instead, that is, the actual distance CD from the edge of the vehicle BC to the outer lane line of the target lane and the actual distance EF from the edge of the vehicle FG to the outer lane line of the initial lane. Based on the lengths of OA and OH obtained by the camera, and the pre-measured distance OB and OG from the camera to the edge of the vehicle, CD can be calculated according to the following formula:

[0066] CD=OA×cosβ-OB÷cosβ;

[0067] Wherein, β is the heading angle of the current vehicle at this time, which can be obtained according to the sensor of the current vehicle (such as an inertial measurement unit). The calculation of EF and GH on the other side of the current vehicle body is similar.

[0068] In a specific embodiment, Figure 2C A schematic diagram of a lane change control process is provided.

[0069] like Figure 2C The lane change control process shown specifically includes:

[0070] S201. Obtain lane line information output by a camera.

[0071] S202: Determine whether the driver controls the turn signal lever. If so, execute S203; otherwise, execute S207.

[0072] S203: While changing lanes, calculate the actual distance between the current vehicle and the outer lane lines of the two lanes.

[0073] S204, determining whether the driver controls the turn signal lever again, if the control state remains unchanged, executing S206; if the driver turns off the turn signal, executing S205; if the driver turns off the turn signal lever, executing S207.

[0074] S205: Determine the actual distance between the two sides. If the distance to the outer lane line of the target lane is smaller, execute S206; otherwise, execute S207.

[0075] S206: Switch to the target lane.

[0076] S207. Keep driving in the initial lane.

[0077] It can be understood that in S204 and S205, when the driver turns off the turn signal, the current vehicle can calculate in real time the distances between the left and right edges of the vehicle and the outer lane lines of the two lanes, and judge how far the current vehicle has deviated from the target lane during the process from the driver controlling the vehicle to changing lanes to the driver turning off the turn signal based on the two distance data. If the distance deviated from the target lane (the distance from the outer lane line of the target lane) is less than the distance from the outer lane line of the initial lane, it means that the driver has given up on changing lanes, and the current vehicle is controlled to maintain driving in the initial lane. On the contrary, if the distance deviated from the target lane (the distance from the outer lane line of the target lane) is not less than the distance from the outer lane line of the initial lane, it means that the driver believes that the vehicle has completed the lane change and just wants to turn off the turn signal. At this time, the current vehicle is controlled to complete the lane change and drive to the target lane.

[0078] Embodiment 3

[0079] Figure 3This is a schematic diagram of the structure of a lane change control device provided in the third embodiment of the present application. Figure 3 As shown, the lane change control device 300 may include: a control signal acquisition module 310, a target lane determination module 320, a lane change intention judgment module 330 and a vehicle lane change control module 340, wherein:

[0080] The control signal acquisition module 310 is used to acquire the control signal generated by the turn signal control lever of the current vehicle during driving;

[0081] A target lane determination module 320, for determining a target lane according to the control signal;

[0082] A lane-changing intention judgment module 330 is used to judge whether the current vehicle switches to the target lane according to the vehicle body distribution of the initial lane and the target lane before the lane change, and the change of the control signal;

[0083] The vehicle lane-changing control module 340 is used to control the current vehicle to change lanes according to the judgment result.

[0084] The technical solution of the embodiment of the present application determines whether the current vehicle has switched to the target lane based on the vehicle body distribution in the initial lane and the target lane, as well as the change in the control signal. This can accurately determine the driver's true lane-changing intention, prevent possible violations or accidents caused by the manipulation of the turn signal lever during the lane-changing process, improve driving safety, and enhance the driver's driving experience.

[0085] In an optional implementation, the lane change intention determination module 330 may include:

[0086] The lane change judgment unit is used to determine whether the current vehicle switches to the target lane based on the body distribution if the control signal is switched to the off state.

[0087] In an optional implementation, the lane change determination unit may include:

[0088] The lane switching judgment subunit is used to determine whether the current vehicle switches to the target lane if the vehicle body distribution is close to the target lane.

[0089] In an optional implementation, the lane change determination unit may include:

[0090] The lane keeping judgment subunit is used to determine that the current vehicle does not switch to the target lane if the vehicle body distribution is close to the initial lane.

[0091] In an optional implementation, the lane change control device 300 may further include:

[0092] A lane image acquisition module is used to acquire a lane image of the current vehicle travel direction;

[0093] A lane distance determination module is used to determine the relative distance between the current vehicle and two outer lane lines of the initial lane and the target lane according to the lane image;

[0094] The vehicle body distribution determination module is used to determine the vehicle body distribution according to the relative distance.

[0095] In an optional implementation manner, the lane switching judgment subunit may be specifically used for:

[0096] If the relative distance between the current vehicle and the outer lane line of the initial lane is not less than the relative distance between the current vehicle and the outer lane line of the target lane, it is determined that the current vehicle switches to the target lane.

[0097] In an optional implementation manner, the lane keeping judgment subunit may be specifically used for:

[0098] If the relative distance between the current vehicle and the outer lane line of the initial lane is smaller than the relative distance between the current vehicle and the outer lane line of the target lane, it is determined that the current vehicle does not switch to the target lane.

[0099] The lane changing control device provided in the embodiments of the present application can execute the lane changing control method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects for executing each lane changing control method.

[0100] Embodiment 4

[0101] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0102] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0103] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0104] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the lane change control method provided in the present application.

[0105] In some embodiments, the lane change control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the lane change control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the lane change control method in any other appropriate manner (e.g., by means of firmware).

[0106] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0107] The present application also provides an autonomous driving vehicle, which may be provided with the electronic device provided in the above-mentioned embodiment.

[0108] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0109] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device or equipment. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, 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), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0110] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0111] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0112] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0113] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0114] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A lane change control method, characterized in that: include: Obtain the control signal generated by the turn signal lever of the current vehicle during driving; determining a target lane according to the control signal; Determining whether the current vehicle switches to the target lane according to the vehicle body distribution of the initial lane and the target lane before the current vehicle changes lanes and the change of the control signal; According to the judgment result, the current vehicle is controlled to change lanes; Wherein, judging whether the current vehicle switches to the target lane according to the vehicle body distribution of the initial lane and the target lane before the current vehicle changes lanes and the change of the control signal includes: If the control signal is switched to an off state, determining whether the current vehicle is switched to the target lane according to the vehicle body distribution; Wherein, if the control signal is switched to the off state, determining whether the current vehicle switches to the target lane according to the vehicle body distribution condition includes: If the vehicle body distribution condition is close to the target lane, determining that the current vehicle is switched to the target lane; Wherein, if the vehicle body distribution condition is close to the target lane, determining that the current vehicle is switched to the target lane includes: If the relative distance between the current vehicle and the outer lane line of the initial lane is not less than the relative distance between the current vehicle and the outer lane line of the target lane, it is determined that the current vehicle switches to the target lane.

2. The method according to claim 1, characterized in that If the control signal is switched to the off state, determining whether the current vehicle is switched to the target lane according to the vehicle body distribution condition includes: If the vehicle body distribution condition is close to the initial lane, it is determined that the current vehicle does not switch to the target lane.

3. The method according to any one of claims 1 to 2, characterized in that: The method further comprises: Get the lane image of the current vehicle travel direction; Determine, according to the lane image, a relative distance between the current vehicle and two outer lane lines of the initial lane and the target lane; The vehicle body distribution condition is determined according to the relative distance.

4. The method according to claim 2, characterized in that: If the vehicle body distribution condition is close to the initial lane, determining that the current vehicle does not switch to the target lane includes: If the relative distance between the current vehicle and the outer lane line of the initial lane is smaller than the relative distance between the current vehicle and the outer lane line of the target lane, it is determined that the current vehicle does not switch to the target lane.

5. A lane change control device, characterized in that: include: A control signal acquisition module is used to obtain the control signal generated by the turn signal control lever of the current vehicle during driving; A target lane determination module, used for determining a target lane according to the control signal; A lane-changing intention judgment module, used to judge whether the current vehicle switches to the target lane according to the vehicle body distribution of the initial lane and the target lane before the lane change, and the change of the control signal; A vehicle lane-changing control module is used to control the current vehicle to change lanes according to the judgment result; The lane-changing intention judgment module includes: a lane-changing judgment unit, which is used to determine whether the current vehicle switches to the target lane according to the vehicle body distribution if the control signal is switched to the off state; Wherein, the lane change judgment unit includes: a lane change judgment subunit, which is used to determine that the current vehicle is switched to the target lane if the vehicle body distribution is close to the target lane; The lane switching judgment subunit is used to determine that the current vehicle switches to the target lane if the relative distance between the current vehicle and the outer lane line of the initial lane is not less than the relative distance between the current vehicle and the outer lane line of the target lane.

6. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the lane change control method according to any one of claims 1 to 4.

7. An autonomous driving vehicle, characterized in that: The autonomous driving vehicle is provided with an electronic device as described in claim 6.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the lane change control method according to any one of claims 1 to 4 when executed.

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