Control Method, Device, Electronic Device and Storage Medium for Autonomous Vehicle

Abstract

The present disclosure provides a control method, device, electronic device, and storage medium for an autonomous vehicle, relating to the field of computer technologies, and particularly to the field of intelligent transportation technologies. The specific implementation solution is as follows: in response to detecting a lane change instruction, when it is determined that the distance between the vehicle and an obstacle at the current moment satisfies a first distance condition, the vehicle is controlled to enter a lane change driving mode, where the first distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the current moment, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; in response to detecting that the vehicle is passing a lane line, when it is determined that the distance between the vehicle and an obstacle at the moment when the vehicle crosses the line satisfies a second distance condition, the vehicle is controlled to enter a target lane merging mode, where the second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into the target lane.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, and in particular to the fields of autonomous driving, intelligent transportation, high-precision maps, and autonomous parking, cloud services, vehicle networking, and intelligent cockpits. Specifically, it relates to a control method, device, electronic device, and storage medium for an autonomous driving vehicle. Background Art

[0002] With the development of artificial intelligence technology, autonomous driving technology has also developed. Autonomous driving technology refers to a technology that relies on computers and artificial intelligence technology to assist or replace the driver in steering and staying on the road without human manipulation, and realizes a series of operations such as following, braking, and lane changing based on decision-making and planning. Summary of the Invention

[0003] The present disclosure provides a control method, device, electronic device, and storage medium for an autonomous driving vehicle.

[0004] According to one aspect of the present disclosure, there is provided a control method for an autonomous driving vehicle, including: in response to detecting a lane change instruction, when it is determined that the distance between the vehicle and an obstacle at the current moment satisfies a first distance condition, controlling the vehicle to enter a lane change driving mode, where the first distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current moment, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and, in response to detecting that the vehicle is passing a lane line, when it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies a second distance condition, controlling the vehicle to enter a target lane merging mode, where the moment when the vehicle crosses the line represents the moment when the target position of the vehicle passes the lane line, the second distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into the target lane.

[0005] According to another aspect of the present disclosure, there is provided a control device for an autonomous vehicle, including: a first control module, configured to, in response to detecting a lane change instruction, control the vehicle to enter a lane change driving mode when it is determined that the distance between the vehicle and an obstacle at the current moment satisfies a first distance condition, where the first distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current moment, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and a second control module, configured to, in response to detecting that the vehicle is passing a lane line, control the vehicle to enter a target lane merging mode when it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies a second distance condition, where the moment when the vehicle crosses the line represents the moment when the target position of the vehicle passes the lane line, and the second distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into a target lane.

[0006] According to another aspect of the present disclosure, there is provided an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the method as described above.

[0007] According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to cause the computer to execute the method as described above.

[0008] According to another aspect of the present disclosure, there is provided a computer program product, including a computer program, where the computer program implements the method as described above when executed by a processor.

[0009] According to another aspect of the present disclosure, there is provided an autonomous vehicle, including the electronic device as described in the present disclosure.

[0010] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. Description of the Drawings

[0011] The drawings are used to better understand the solution and do not constitute a limitation to the present disclosure. Among them:

[0012] Figure 1 Schematically shows an exemplary system architecture to which the control method and device of an autonomous vehicle according to an embodiment of the present disclosure can be applied;

[0013] Figure 2 Schematically shows a flowchart of a control method for an autonomous vehicle according to an embodiment of the present disclosure;

[0014] Figure 3 Schematically shows an exemplary diagram of a control method for an autonomous vehicle according to an embodiment of the present disclosure;

[0015] Figure 4 Schematically shows a block diagram of a control device for an autonomous vehicle according to an embodiment of the present disclosure; and

[0016] Figure 5 Schematically shows a block diagram of an electronic device suitable for implementing a control method for an autonomous vehicle according to an embodiment of the present disclosure. Detailed implementation manners

[0017] The following describes exemplary embodiments of the present disclosure with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0018] Lane-changing operations performed by a vehicle during driving are likely to affect the agility of the vehicle. How to evaluate the trajectory safety of the vehicle's lane change and bear the safety risk is an urgent problem to be solved.

[0019] Usually, a fixed time interval is adopted to predict the position relationship between the trajectory of the vehicle and the trajectory of the obstacle at the same time, so as to determine whether the vehicle's lane change is safe according to the predicted trajectory of the obstacle.

[0020] However, in the solution for evaluating the safety of a vehicle's lane change based on the predicted trajectory, when the vehicle has the intention to change lanes and the user determines that the lane change is safe, the vehicle may not trigger the lane change because the lane change is determined to be unsafe according to the predicted trajectory of the obstacle. Alternatively, when the vehicle has already triggered the lane change and the user determines that it is safe to continue the lane change, the lane change may not be triggered because the lane change is determined to be unsafe according to the predicted trajectory of the obstacle. In both cases, it is easy to make the vehicle's behavior relatively conservative and reduce the vehicle's lane-changing ability.

[0021] To this end, an embodiment of the present invention proposes a control scheme for an autonomous vehicle. When it is determined that the distance between the vehicle and an obstacle at the current moment satisfies the first distance condition, the vehicle is controlled to enter a lane-changing driving mode. When it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition, it is determined that the vehicle enters a merging mode into the target lane. By means of the above technical means, the vehicle can safely merge into the target lane. Thus, it is realized that whether the lane-changing operation of the vehicle is safe is determined in stages during the initial stage and the line-crossing stage of the vehicle's lane change, thereby improving the game effect of the vehicle against obstacles and further improving the lane-changing ability of the vehicle.

[0022] In the technical solution of the present invention, the collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0023] In the technical solution of the present invention, the authorization or consent of the user is obtained before obtaining or collecting the user's personal information.

[0024] Figure 1 Schematically shows an exemplary system architecture to which the content processing method and apparatus according to an embodiment of the present disclosure can be applied.

[0025] It should be noted that Figure 1 The illustration is only an example of the system architecture to which the embodiments of the present disclosure can be applied, to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios. According to the implementation requirements, the system architecture of the embodiments of the present disclosure can also be other implementation manners.

[0026] As Figure 1 shown, the system architecture 100 according to this embodiment may include a terminal 101, a vehicle terminal 102, a cloud 103, a network 104, and a server 105. The network 104 is used to provide a medium for a communication link between the terminal 101, the vehicle terminal 102, the cloud 103, and the server 105. The network 104 may include various connection types, such as wired and / or wireless communication links, etc.

[0027] The terminal 101 may be various electronic devices with a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, and desktop computers, etc.

[0028] The user can use the terminal 101 to interact with the server 105 through the network 104 to receive or send messages, navigate for driving a vehicle, etc. Various client applications with positioning and navigation functions may be installed on the terminal 101, such as map applications, navigation applications, etc. (only as an example).

[0029] The vehicle terminal 102 can be various transportation means that support positioning and navigation functions, including but not limited to internal combustion engine-powered vehicles, electric vehicles, or hybrid electric vehicles, etc. Alternatively, the vehicle terminal 102 can be an autonomous vehicle configured with an automatic control system, including but not limited to smart cars, smart school buses, smart trucks, etc.

[0030] The vehicle terminal 102 can include a vehicle terminal sensor unit, a vehicle terminal perception unit, a vehicle terminal positioning unit, and a vehicle terminal decision-making unit. For example, the vehicle terminal sensor unit can include at least one of the following: a vehicle terminal vision sensor, a vehicle terminal lidar, and a vehicle terminal radar. The vision sensor can include a camera. The vehicle terminal radar can include at least one of the following: a vehicle terminal millimeter-wave radar and a vehicle terminal ultrasonic radar. The vehicle terminal perception unit can include a hardware subunit and a software subunit. The hardware subunit can include a processor and a memory. The software subunit can include an operating system and planning and routing threads. The vehicle terminal positioning unit can include at least one of the following: Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Global Navigation Satellite System (GNSS), GLObal NAvigation Sarwllite System (GLONASS), Inertial Measurement Unit (IMU), a vision sensor, a vehicle terminal lidar, and a vehicle terminal radar. In addition, the autonomous vehicle can also include software applications. The software applications can include at least one of the following: navigation type applications, entertainment applications, and instant messaging applications.

[0031] The cloud includes but is not limited to a cloud control platform and a third-party platform. The cloud control platform can include at least one of the following: an edge cloud control platform, a regional cloud control platform, and a central cloud control platform. The cloud control platform can be a cloud server or a set of cloud servers. A cloud server is a host product in the cloud computing service system, which solves the defects of difficult management and weak business scalability existing in traditional physical hosts and Virtual Private Server (VPS) services. The third-party platform can include at least one of the following: a traffic management platform, a map platform, a travel service platform, a vehicle management platform, and an Original Entrusted Manufacture (OEM) platform.

[0032] Server 105 may be a server that provides various services, such as a background management server (only for example) that supports the content browsed by the user using the terminal 101, the positioning information obtained by the vehicle terminal 102, etc. The background management server may analyze and process data such as user requests and vehicle terminal instructions received, and feedback the processing results (such as web pages, information, or data obtained or generated according to user requests and vehicle terminal instructions) to the terminal 101, the vehicle terminal 102, and the cloud 103.

[0033] It should be noted that the control method of the autonomous vehicle provided by the embodiments of the present disclosure may be executed by the vehicle terminal 102. Correspondingly, the control device of the autonomous vehicle provided by the embodiments of the present disclosure may also be provided in the vehicle terminal 102.

[0034] Alternatively, the control method of the autonomous vehicle provided by the embodiments of the present disclosure may be executed by the terminal 101. Correspondingly, the control device of the autonomous vehicle provided by the embodiments of the present disclosure may also be provided in the terminal 101.

[0035] Alternatively, the control method of the autonomous vehicle provided by the embodiments of the present disclosure may be executed by the cloud 103. Correspondingly, the control device of the autonomous vehicle provided by the embodiments of the present disclosure may also be provided in the cloud 103.

[0036] Alternatively, the control method of the autonomous vehicle provided by the embodiments of the present disclosure may be executed by the server 105. Correspondingly, the control device of the autonomous vehicle provided by the embodiments of the present disclosure may also be provided in the server 105.

[0037] It should be understood that Figure 1 the numbers of the terminal devices, networks, and servers in

[0038] are merely illustrative. According to the implementation requirements, there may be any number of terminals, vehicle terminals, clouds, networks, and servers.

[0039] Figure 2 Schematically shows a flowchart of the control method of the autonomous vehicle according to the embodiments of the present disclosure.

[0040] As Figure 2 shown, the method 200 includes operations S210 to S220.

[0041] In operation S210, in response to detecting a lane change instruction, when it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the first distance condition, the vehicle is controlled to enter the lane change driving mode. The first distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current moment. The lane change driving mode represents the mode in which the vehicle performs a lane change operation.

[0042] In operation S220, in response to detecting that the vehicle is passing a lane line, when it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition, the vehicle is controlled to enter the target lane merging mode. The moment when the vehicle crosses the line represents the moment when the target position of the vehicle passes the lane line. The second distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line. The target lane merging mode represents the mode in which the vehicle merges into the target lane.

[0043] According to an embodiment of the present disclosure, the lane change instruction can be generated by at least one of the following: the navigation instruction of the in-vehicle system, the navigation instruction of the third-party navigation, and the lane change operation of the driver, etc. For example, when the in-vehicle system determines that a lane change is required currently, a lane change instruction can be generated. Alternatively, when the third-party navigation determines that a lane change is required currently, a lane change instruction can be generated. Alternatively, when the driver selects a left lane change or a right lane change, a lane change instruction can be generated.

[0044] According to an embodiment of the present disclosure, sensors such as radars or cameras configured on the vehicle can be used to detect the environmental information around the vehicle. For example, the current driving state information of the vehicle, the information of the current lane, the information of the target lane after the lane change, and the information of the obstacles on the target lane can be determined. The current driving state information of the vehicle can include acceleration, deceleration, constant speed, or lane change, etc.

[0045] According to an embodiment of the present disclosure, the obstacle can include at least one of the following: pedestrians, bicycles, cars, motorcycles, or other means of transportation. The information of the obstacles on the target lane can include the current driving state of the obstacles or the tendency of the obstacles to accelerate or decelerate alternatively.

[0046] According to an embodiment of the present disclosure, after recording the current driving state information of the vehicle, the information of the current lane, the information of the target lane, and the information of the obstacles on the target lane, the first distance condition can be determined according to the speed of the vehicle and the speed of the obstacle at the current moment. The first distance condition can be used to represent the condition that needs to be satisfied by the distance between the two when the vehicle can perform a lane change and does not collide with the obstacle.

[0047] For example, the first distance condition may be that the longitudinal distance between the vehicle in front in the target lane and the vehicle is greater than the corresponding safety distance, or the longitudinal distance between the vehicle behind in the target lane and the vehicle is greater than the corresponding safety distance, etc. The vehicle in front in the target lane refers to the first vehicle in front of the vehicle in the target lane, that is, the vehicle closest to the vehicle that can be detected in front in the target lane. The vehicle behind in the target lane refers to the first vehicle behind the vehicle in the target lane, that is, the vehicle closest to the vehicle that can be detected behind in the target lane.

[0048] According to an embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the first distance condition, the vehicle can be controlled to enter the lane-changing driving mode so as to facilitate the vehicle to perform a lane-changing operation and complete the lane-changing process.

[0049] According to an embodiment of the present disclosure, when it is recorded that the vehicle is passing through the lane line, the second distance condition can be determined according to the speed of the vehicle at the moment when the vehicle crosses the line and the speed of the obstacle at the moment when the vehicle crosses the line. The second distance condition can be used to characterize the condition that needs to be satisfied by the distance between the two when the vehicle can complete a lane change without colliding with the obstacle. The moment when the vehicle crosses the line can characterize the moment when the target position of the vehicle passes through the lane line. For example, the target position may include the center position of the entire vehicle.

[0050] According to an embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition, the vehicle can be controlled to enter the merging mode into the target lane so as to facilitate the vehicle to perform a merging operation and complete the merging process. In addition, the fact that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition can also indicate that the path trajectory generated by the autonomous vehicle also satisfies the second distance condition.

[0051] According to an embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the first distance condition, the vehicle is controlled to enter the lane-changing driving mode, and when it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition, it is determined that the vehicle enters the merging mode into the target lane. By the above technical means, the vehicle can safely merge into the target lane. Thus, it is realized that whether the lane-changing operation of the vehicle is safe is determined in stages in the initial stage of the vehicle lane change and the stage when the vehicle crosses the line, thereby improving the game effect of the vehicle against the obstacle, and further improving the lane-changing ability of the vehicle.

[0052] Next, with reference to Figure 3 , a further description will be given of the control method for an autonomous vehicle according to the present disclosure in conjunction with specific embodiments.

[0053] According to an embodiment of the present disclosure, the first distance condition includes a third distance condition and a fourth distance condition.

[0054] According to an embodiment of the present disclosure, the third distance condition is determined based on a first predetermined distance and a second predetermined distance. The second predetermined distance is determined based on a first distance corresponding to the time headway at the current moment and a second distance corresponding to the collision time. The first distance is determined based on the speed of the obstacle at the current moment. The second distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment.

[0055] According to an embodiment of the present disclosure, the fourth distance condition is determined based on a third predetermined distance and a fourth predetermined distance. The third predetermined distance is determined based on a third distance corresponding to the time headway at the current moment, and the fourth predetermined distance is determined based on a fourth distance corresponding to the collision time at the current moment. The third distance is determined based on the speed of the obstacle at the current moment, and the fourth distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment.

[0056] According to an embodiment of the present disclosure, the control method of the above-mentioned autonomous vehicle may further include the following operations.

[0057] When it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the first minimum distance, it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition. The first minimum distance is the minimum distance between the first predetermined distance and the second predetermined distance. When it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the second minimum distance, it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition. The second minimum distance is the minimum distance between the third predetermined distance and the fourth predetermined distance.

[0058] According to an embodiment of the present disclosure, when a vehicle driving in the current lane triggers a lane change, a certain safety distance from the obstacle in the target lane is required to leave enough reaction time for the obstacle.

[0059] According to an embodiment of the present disclosure, the time headway (THW) can be determined based on the distance between two vehicles and the speed of the following vehicle. For example, the time headway can be equal to the ratio between the distance between two vehicles and the speed of the following vehicle. The time to collision (TTC) can be determined based on the distance between two vehicles and the relative speed of the two vehicles. For example, the time to collision can be equal to the ratio between the distance between two vehicles and the relative speed of the two vehicles. The two vehicles may include an autonomous vehicle and an obstacle. The following vehicle may refer to the obstacle.

[0060] According to an embodiment of the present disclosure, the time headway and the time to collision can be used to characterize the emergency degree of the collision risk between the preceding vehicle and the following vehicle during driving. The time headway can be used to evaluate the potential collision risk in a stable following state with a short distance between vehicles, while the time to collision can be used to evaluate the potential collision risk in an emergency situation where the distance between the front and rear vehicles is short and there is a large speed difference.

[0061] According to an embodiment of the present disclosure, the third distance condition and the fourth distance condition can be used to characterize the conditions that need to be satisfied by the distance between two objects when the vehicle can perform a lane change without colliding with an obstacle.

[0062] According to an embodiment of the present disclosure, it is possible to determine the first distance corresponding to the time headway based on the speed of the obstacle at the current moment t = t cur and the parameter w1. and the parameter w1, determine the first distance corresponding to the time headway

[0063] According to an embodiment of the present disclosure, since the speed of the obstacle at the current moment and the speed of the vehicle may be equal, it is possible to determine the second distance corresponding to the collision time based on the distance parameter buffer2, the speed of the vehicle at the current moment the speed of the obstacle and the parameter w2.

[0064] According to an embodiment of the present disclosure, it is possible to determine the second predetermined distance based on the first distance corresponding to the time headway and the second distance corresponding to the collision time Determine the second predetermined distance The third distance condition can be determined based on the first predetermined distance buffer1 and the second predetermined distance.

[0065] According to an embodiment of the present disclosure, it is possible to determine the third distance based on the speed of the obstacle at the current moment and the parameter w3. It is possible to determine the third distance based on the speed of the vehicle at the current moment the speed of the obstacle the parameter w4 and the distance parameter buffer3. It is possible to determine the third predetermined distance based on the third distance corresponding to the time headway at the current moment Determine the third predetermined distance. The fourth predetermined distance can be determined based on the fourth distance corresponding to the collision time at the current moment. The third predetermined distance and the fourth predetermined distance Determine the fourth distance condition.

[0066] According to an embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the first distance condition, controlling the vehicle to enter the lane change driving mode may include the following operations.

[0067] When it is determined that the speed of the vehicle at the current moment is greater than or equal to the speed of the obstacle at the current moment, in response to determining that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition, the vehicle is controlled to enter the lane-changing driving mode. The third distance condition is determined according to the first predetermined distance, the speed of the vehicle at the current moment, and the speed of the obstacle. When it is determined that the speed of the vehicle at the current moment is less than the speed of the obstacle at the current moment, in response to determining that the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition, the vehicle is controlled to enter the lane-changing driving mode. The fourth distance condition is determined according to the speed of the vehicle at the current moment and the speed of the obstacle.

[0068] According to an embodiment of the present disclosure, when it is determined that the current time t = t cur the speed of the vehicle is greater than or equal to the speed of the obstacle at the current moment that is in this case, it can be determined whether the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition, and the third distance condition can be expressed by the following formula (1).

[0069]

[0070] According to an embodiment of the present disclosure, d safe1 can represent the distance between the vehicle and the obstacle at the current moment. buffer1 and buffer2 can represent distance parameters, and w1 and w2 can represent parameters, can represent the speed of the obstacle at the current moment, can represent the speed of the vehicle at the current moment.

[0071] When it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition, the vehicle can be controlled to enter the lane-changing driving mode.

[0072] According to an embodiment of the present disclosure, when the speed of the vehicle at the current moment is less than the speed of the obstacle at the current moment that is in this case, it can be determined whether the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition, and the fourth distance condition can be characterized by the following formula (2).

[0073]

[0074] According to an embodiment of the present disclosure, d safe2 can represent the distance between the vehicle and the obstacle at the current moment. buffer3 represents the distance parameter. w3 and w4 represent parameters. can represent the speed of the obstacle at the current moment. It can characterize the speed of the vehicle at the current moment.

[0075] When it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition, the vehicle can be controlled to enter the lane-changing driving mode.

[0076] According to an embodiment of the present disclosure, in the initial stage of vehicle lane-changing, by determining the magnitude relationship between the speed of the vehicle at the current moment and the speed of the obstacle at the current moment, and based on the distance corresponding to the time headway and the distance corresponding to the collision time in different situations, it is determined whether the distance between the vehicle and the obstacle satisfies the corresponding distance condition. Through the above technical means, the vehicle can drive safely during lane-changing. Thus, it is realized to determine whether the lane-changing operation of the vehicle is safe in the initial stage of vehicle lane-changing, thereby improving the lane-changing ability of the vehicle in the initial stage of lane-changing.

[0077] According to an embodiment of the present disclosure, the second distance condition is determined based on a fifth predetermined distance and a sixth predetermined distance. The sixth predetermined distance is determined based on the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line.

[0078] According to an embodiment of the present disclosure, the above method may further include the following operations.

[0079] When it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line is greater than or equal to the third minimum distance, it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition. The third minimum distance is the minimum distance between the fifth predetermined distance and the sixth predetermined distance.

[0080] According to an embodiment of the present disclosure, it can be based on the speed of the vehicle at the moment when the vehicle crosses the line t = mid of the vehicle the speed of the obstacle parameter w1 and parameter w6 to determine the sixth predetermined distance The second distance condition can be determined based on the fifth predetermined distance buffer4 and the sixth predetermined distance.

[0081] According to an embodiment of the present disclosure, since when the target position of the vehicle has crossed the line, a more different strategy is needed, that is, it is desired that there is enough distance between the obstacle and the vehicle, and it is more inclined to enable the vehicle to safely merge in. Therefore, when determining whether the second distance condition is satisfied, the speed of the vehicle and the speed of the obstacle may not be distinguished.

[0082] According to an embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line is greater than or equal to the third minimum distance, it can be determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition, and the second distance condition can be expressed by the following formula (3).

[0083]

[0084] According to an embodiment of the present disclosure, d safe3 can characterize the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line. buffer4 can characterize the distance parameter. w5 and w6 can characterize the parameters. can characterize the speed of the obstacle, can characterize the speed of the vehicle.

[0085] According to an embodiment of the present disclosure, in the vehicle crossing line stage of vehicle lane change, it is determined whether the distance between the vehicle and the obstacle meets the corresponding distance condition. Through the above technical means, the vehicle can safely merge into the target lane. Thus, it is realized to determine whether the lane change operation of the vehicle is safe in the vehicle crossing line stage of vehicle lane change, thereby improving the lane change ability of the vehicle in the vehicle crossing line stage.

[0086] According to an embodiment of the present disclosure, the control method 200 of the autonomous vehicle may further include the following operations.

[0087] In response to detecting that the vehicle has completed the target lane merging mode, according to the end time, the target time, the target distance, and the target speed, determine the acceleration of the obstacle moving in the expected motion mode. The target distance characterizes the distance between the obstacle and the vehicle at the target time. The target speed characterizes the speed of the obstacle at the target time. The end time characterizes the moment when the whole vehicle enters the target lane. The target time is determined according to the current time and the obstacle reaction time. According to the acceleration, determine the risk level of the vehicle executing the lane change driving mode. The risk level is used to characterize the influence degree of the vehicle entering the target lane on the obstacle.

[0088] According to an embodiment of the present disclosure, the expected motion mode can be configured according to the time service requirements, which is not limited herein. For example, the expected motion mode may include a variable speed linear motion mode. The variable speed linear motion mode may include a uniformly variable linear motion mode.

[0089] According to an embodiment of the present disclosure, the target time may be the maximum value of the current time and the obstacle reaction time. In addition, the target time may also be the average value of the current time and the obstacle reaction time. The obstacle reaction time may refer to the moment when the obstacle perceives the lane change intention of the vehicle and starts to react.

[0090] According to an embodiment of the present disclosure, the influence degree of the vehicle entering the target lane on the obstacle can be determined according to the risk level. For example, the higher the lane change safety risk level of the vehicle, the greater the possibility of triggering a safety risk during lane change. Thus, the greater the influence degree of the vehicle entering the target vehicle on the obstacle. Vice versa.

[0091] According to an embodiment of the present disclosure, when an autonomous vehicle generates multiple path trajectories, it can also determine a target path trajectory from the multiple path trajectories according to the acceleration corresponding to each of the multiple path trajectories.

[0092] According to an embodiment of the present disclosure, the expected motion mode includes a uniformly variable rectilinear motion mode.

[0093] According to an embodiment of the present disclosure, determining the risk level of the vehicle entering the lane change driving mode according to the acceleration may include the following operations.

[0094] When it is determined that the acceleration is greater than or equal to a predetermined acceleration threshold, it is determined that the risk level of the vehicle entering the lane change driving mode is a safe level. The predetermined acceleration threshold is greater than or equal to zero.

[0095] According to an embodiment of the present disclosure, when the host vehicle completes a lane change, the acceleration of the obstacle moving according to the expected motion mode can be determined according to the following formula (4).

[0096]

[0097] According to an embodiment of the present disclosure, t finish can represent the end moment, for example, the moment when the vehicle completes a lane change. t0 = max(t cur , t react ) can represent the target moment. can represent the target distance, for example, the distance between the obstacle and the vehicle when t = t0 can represent the target speed, for example, the speed of the obstacle at t = t0. buffer5 represents the distance parameter. a obs can represent the acceleration, for example, when the vehicle completes a lane change, in order to avoid a collision between the obstacle and the vehicle, the expected acceleration of the obstacle.

[0098] According to an embodiment of the present disclosure, the average acceleration a that the obstacle should take to avoid a collision can be obtained according to formula (4) obs . a obs can be used to represent the influence degree of the vehicle lane change on the obstacle and evaluate the safety risk of the vehicle lane change.

[0099] For example, the safety risk level of the vehicle lane change can be evaluated according to the expected acceleration a of the obstacle obs . For example, the smaller the acceleration a of the obstacle obs , the higher the safety risk level of the vehicle lane change can be explained, that is, the greater the possibility of the lane change causing a safety risk.

[0100] For example, if the acceleration a obsIf it is greater than 0, it can be explained that even if the obstacle accelerates, it will not collide with the vehicle. That is, the lane change of the vehicle is safe. In this case, the lane change risk level of the vehicle can be the first risk level. If the acceleration is less than 0 and greater than -1, it can be explained that the obstacle can avoid the vehicle by slightly stepping on the brake. In this case, the safe lane change risk level of the vehicle can be the second risk level. If the acceleration is less than -n, it can be explained that the obstacle needs to brake suddenly to avoid the vehicle. In this case, the safe lane change risk level of the host vehicle can be the Nth risk level. n can be a number less than -1. N can be an integer greater than or equal to 3.

[0101] According to an embodiment of the present disclosure, the parameters w1 to w6 and the distance parameters buffer1 to buffer5 can all be predetermined numbers greater than zero. The above parameters can be configured according to actual service requirements and are not limited herein.

[0102] According to an embodiment of the present disclosure, after the vehicle merges into the target lane, the safe lane change risk level of the vehicle can be evaluated according to the expected acceleration of the obstacle, thereby realizing the safety evaluation of the vehicle lane change operation.

[0103] Figure 3 Schematically shows an example diagram of a control method for an autonomous vehicle according to an embodiment of the present disclosure.

[0104] As Figure 3 shown, taking the obstacle as another vehicle as an example, the control method for the autonomous vehicle according to the embodiment of the present disclosure is described. The speed of the vehicle is v adc , and the speed of the obstacle is v obs .

[0105] t cur represents the current moment. At t cur , the vehicle center position is 301_1, and the obstacle center position is 302_1.

[0106] t react represents the moment when the obstacle starts to react. At t react , the vehicle center position is 301_2, and the obstacle center position is 302_2.

[0107] t mid represents the moment when the vehicle center point passes through the lane line. At t mid , the vehicle center position is 301_3, and the obstacle center position is 302_3.

[0108] t finish represents the end moment when the vehicle completes the lane change, that is, the moment when the vehicle body completely enters the target lane. At t finish , the vehicle center position is 301_4, and the obstacle center position is 302_4.

[0109] In t cur At, in response to detecting a lane change instruction, the lane change instruction may be controlled according to t cur The speed of the vehicle at v adc , the speed of the obstacle v obs , the vehicle center position 301_1 and the obstacle center position 302_1 determine the first distance condition, and when determining the distance between the vehicle and the obstacle at t cur When the distance meets the first distance condition, the vehicle can be controlled to enter the lane change driving mode and start the lane change operation.

[0110] In t mid At t, in response to detecting that the vehicle is passing through the lane line, mid The speed of the vehicle at v adc , the speed of the obstacle v obs , the vehicle center position 301_3 and the obstacle center position 302_3 determine the second distance condition, and determine the distance between the vehicle and the obstacle at t mid When the distance meets the second distance condition, the vehicle can be controlled to enter the target lane merging mode and start the merging operation.

[0111] In t finish At, in response to detecting that the vehicle has completed the target lane merging mode, the vehicle can be cur and t react Determine the target time. For example, if t cur >t react , then the target time can be determined as t cur In this case, the target distance can be determined based on the vehicle center position 301_1 and the obstacle center position 302_1. Alternatively, if t cur <t react , then the target time can be determined as t react In this case, the target distance can be determined according to the vehicle center position 301_2 and the obstacle center position 302_2. The acceleration of the obstacle traveling in the expected motion mode can be determined according to the end time, the target time, the target distance and the target speed, and the risk level of the vehicle executing the lane change driving mode can be determined according to the acceleration.

[0112] The above are merely exemplary embodiments, but are not limited thereto and may also include other autonomous driving vehicle control methods known in the art as long as they can control the autonomous driving vehicle.

[0113] Figure 4 A block diagram of a content processing device according to an embodiment of the present disclosure is schematically shown.

[0114] like Figure 4As shown, the control device 400 of the autonomous vehicle may include a first control module 410 and a second control module 420.

[0115] The first control module 410 is configured to, in response to detecting a lane change instruction, control the vehicle to enter a lane change driving mode when it is determined that the distance between the vehicle and an obstacle at the current moment satisfies a first distance condition. The first distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the current moment. The lane change driving mode represents a mode in which the vehicle performs a lane change operation.

[0116] The second control module 420 is configured to, in response to detecting that the vehicle is passing a lane line, control the vehicle to enter a target lane merging mode when it is determined that the distance between the vehicle and an obstacle at the moment when the vehicle crosses the line satisfies a second distance condition. The moment when the vehicle crosses the line represents the moment when the target position of the vehicle passes the lane line. The second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line. The target lane merging mode represents a mode in which the vehicle merges into the target lane.

[0117] According to an embodiment of the present disclosure, the control device 400 of the autonomous vehicle may further include a first determination module and a second determination module

[0118] The first determination module is configured to, in response to detecting that the vehicle has completed the target lane merging mode, determine the acceleration at which the obstacle travels in an expected motion manner according to an end moment, a target moment, a target distance, and a target speed. The target distance represents the distance between the obstacle and the vehicle at the target moment. The target speed represents the speed of the obstacle at the target moment. The end moment represents the moment when the entire vehicle enters the target lane. The target moment is determined based on the current moment and the reaction moment of the obstacle.

[0119] The second determination module is configured to determine the risk level of the vehicle performing the lane change driving mode according to the acceleration. The risk level is used to represent the degree of influence of the vehicle entering the target lane on the obstacle.

[0120] According to an embodiment of the present disclosure, the expected motion manner includes a uniformly variable rectilinear motion manner.

[0121] According to an embodiment of the present disclosure, the second determination module may include a first determination unit.

[0122] The first determination unit is configured to determine that the risk level of the vehicle performing the lane change driving mode is a safe level when it is determined that the acceleration is greater than or equal to a predetermined acceleration threshold. The predetermined acceleration threshold is greater than or equal to zero.

[0123] According to an embodiment of the present disclosure, the first distance condition includes a third distance condition and a fourth distance condition;

[0124] According to an embodiment of the present disclosure, the first control module 410 may include a first control unit and a second control unit.

[0125] The first control unit is configured to, when it is determined that the speed of the vehicle at the current moment is greater than or equal to the speed of the obstacle at the current moment, and in response to determining that the distance between the vehicle and the obstacle at the current moment satisfies a third distance condition, control the vehicle to enter a lane-changing driving mode. The third distance condition is determined according to a first predetermined distance, the speed of the vehicle at the current moment, and the speed of the obstacle.

[0126] The second control unit is configured to, when it is determined that the speed of the vehicle at the current moment is less than the speed of the obstacle at the current moment, and in response to determining that the distance between the vehicle and the obstacle at the current moment satisfies a fourth distance condition, control the vehicle to enter a lane-changing driving mode. The fourth distance condition is determined according to the speed of the vehicle at the current moment and the speed of the obstacle.

[0127] According to an embodiment of the present disclosure, the third distance condition is determined according to a first predetermined distance and a second predetermined distance. The second predetermined distance is determined according to a first distance corresponding to the time headway at the current moment and a second distance corresponding to the collision time. The first distance is determined according to the speed of the obstacle at the current moment. The second distance is determined according to the speed of the vehicle and the speed of the obstacle at the current moment.

[0128] According to an embodiment of the present disclosure, the fourth distance condition is determined according to a third predetermined distance and a fourth predetermined distance. The third predetermined distance is determined according to a third distance corresponding to the time headway at the current moment. The fourth predetermined distance is determined according to a fourth distance corresponding to the collision time at the current moment. The third distance is determined according to the speed of the obstacle at the current moment. The fourth distance is determined according to the speed of the vehicle and the speed of the obstacle at the current moment.

[0129] According to an embodiment of the present disclosure, the control device 400 of the above-mentioned autonomous vehicle may further include a third determination module and a fourth determination module.

[0130] The third determination module is configured to determine that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition when it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to a first minimum distance. The first minimum distance is the minimum distance between the first predetermined distance and the second predetermined distance.

[0131] The fourth determination module is configured to determine that the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition when it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to a second minimum distance. The second minimum distance is the minimum distance between the third predetermined distance and the fourth predetermined distance.

[0132] According to an embodiment of the present disclosure, the second distance condition is determined based on a fifth predetermined distance and a sixth predetermined distance. The sixth predetermined distance is determined based on the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line.

[0133] According to an embodiment of the present disclosure, the control device 400 of the above-mentioned autonomous driving vehicle may further include a fifth determination module.

[0134] The fifth determination module is configured to determine that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line meets the second distance condition when it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line is greater than or equal to a third minimum distance. The third minimum distance is the minimum distance between the fifth predetermined distance and the sixth predetermined distance.

[0135] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, a computer program product, and an autonomous driving vehicle.

[0136] According to an embodiment of the present disclosure, an electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described above.

[0137] According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method as described above.

[0138] According to an embodiment of the present disclosure, a computer program product includes a computer program, and the computer program implements the method as described above when executed by a processor.

[0139] According to an embodiment of the present disclosure, an autonomous driving vehicle includes the electronic device described in the present disclosure.

[0140] Figure 5 A block diagram of an electronic device suitable for implementing the control method of an autonomous driving vehicle according to an embodiment of the present disclosure is schematically shown. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present disclosure described herein and / or alternatively claimed.

[0141] As Figure 5As shown, the electronic device 500 includes a computing unit 501, which can execute various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or alternatively a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0142] Multiple components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a magnetic disk, an optical disc, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0143] The computing unit 501 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 executes the various methods and processes described above, such as the control method of an autonomous vehicle. For example, in some embodiments, the control method of an autonomous vehicle can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 508. In some embodiments, part or alternatively all of the computer program can be loaded and / or installed onto the electronic device 500 via the ROM 802 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the control method of the autonomous vehicle described above can be executed. Alternatively, in other embodiments, the computing unit 501 can be configured to execute the control method of the autonomous vehicle in any other appropriate manner (e.g., by means of firmware).

[0144] According to an embodiment of the present disclosure, an autonomous vehicle is provided, and the autonomous vehicle can include the electronic device described in the embodiment of the present disclosure.

[0145] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or alternatively more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or alternatively a 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 can transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0146] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general purpose computer, a dedicated computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0147] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0148] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or alternatively an LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or alternatively a trackball), by which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or alternatively tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or alternatively tactile input).

[0149] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), alternatively in a computing system including middleware components (e.g., an application server), alternatively in a computing system including frontend components (e.g., a user computer having a graphical user interface or alternatively a web browser through which the user can interact with an implementation of the systems and techniques described herein), or alternatively in a computing system including any combination of such backend components, middleware components, or alternatively frontend components. The components of the system can be interconnected to each other by digital data communication in any form or alternatively medium (e.g., a communication network). Examples of communication networks include: local area networks (LANs), wide area networks (WANs), and the Internet.

[0150] A computer system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, or a server of a distributed system, or alternatively a server incorporating a blockchain.

[0151] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and no limitation is imposed herein.

[0152] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand 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 disclosure shall be included within the protection scope of this disclosure.

Claims

1. A control method for an autonomous vehicle, comprising: When it is determined that the speed of the vehicle at the current moment is greater than or equal to the speed of the obstacle at the current moment, in response to detecting a lane change instruction and determining that the distance between the vehicle and the obstacle at the current moment satisfies a third distance condition, controlling the vehicle to enter a lane change driving mode, wherein the third distance condition is determined according to a first predetermined distance, the speed of the vehicle at the current moment, and the speed of the obstacle, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; When it is determined that the speed of the vehicle at the current moment is less than the speed of the obstacle at the current moment, in response to detecting the lane change instruction and determining that the distance between the vehicle and the obstacle at the current moment satisfies a fourth distance condition, controlling the vehicle to enter the lane change driving mode, wherein the fourth distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current moment; and In response to detecting that the vehicle is passing a lane line, when it is determined that the distance between the vehicle and the obstacle at the vehicle crossing moment satisfies a second distance condition, controlling the vehicle to execute a target lane merging mode, wherein the vehicle crossing moment represents the moment when the target position of the vehicle passes the lane line, the second distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the vehicle crossing moment, and the target lane merging mode represents a mode in which the vehicle merges into the target lane.

2. The method according to claim 1, further comprising: In response to detecting that the vehicle has completed the target lane merging mode, determining the acceleration of the obstacle traveling in an expected motion manner according to an end moment, a target moment, a target distance, and a target speed, wherein the target distance represents the distance between the obstacle and the vehicle at the target moment, the target speed represents the speed of the obstacle at the target moment, the end moment represents the moment when the whole vehicle enters the target lane, and the target moment is determined according to the current moment and the obstacle reaction moment; and Determining the risk level of the vehicle entering the lane change driving mode according to the acceleration, wherein the risk level is used to represent the degree of influence of the vehicle entering the target lane on the obstacle.

3. The method according to claim 2, wherein The expected motion manner includes a uniformly variable rectilinear motion manner.

4. The method according to claim 2 or 3, wherein, The determining the risk level of the vehicle entering the lane change driving mode according to the acceleration includes: When it is determined that the acceleration is greater than or equal to a predetermined acceleration threshold, determining that the risk level of the vehicle entering the lane change driving mode is a safe level, wherein the predetermined acceleration threshold is greater than or equal to zero.

5. The method according to claim 1, wherein The third distance condition is determined based on the first predetermined distance and the second predetermined distance, wherein the second predetermined distance is determined based on a first distance corresponding to the headway time at the current moment and a second distance corresponding to the collision time, the first distance is determined based on the speed of the obstacle at the current moment, and the second distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment; Wherein, the fourth distance condition is determined based on a third predetermined distance and a fourth predetermined distance, wherein the third predetermined distance is determined based on a third distance corresponding to the headway time at the current moment, and the fourth predetermined distance is determined based on a fourth distance corresponding to the collision time at the current moment, the third distance is determined based on the speed of the obstacle at the current moment, and the fourth distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment.

6. The method according to claim 5, further comprising: When it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the first minimum distance, it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition, wherein the first minimum distance is the minimum distance between the first predetermined distance and the second predetermined distance; and When it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the second minimum distance, it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition, wherein the second minimum distance is the minimum distance between the third predetermined distance and the fourth predetermined distance.

7. According to the method according to any one of claims 1 to 3, 5 to 6, wherein, The second distance condition is determined based on a fifth predetermined distance and a sixth predetermined distance, wherein the sixth predetermined distance is determined based on the speed of the vehicle and the speed of the obstacle at the vehicle crossing line moment.

8. The method according to claim 7, further comprising: When it is determined that the distance between the vehicle and the obstacle at the vehicle crossing line moment is greater than or equal to the third minimum distance, it is determined that the distance between the vehicle and the obstacle at the vehicle crossing line moment satisfies the second distance condition, wherein the third minimum distance is the minimum distance between the fifth predetermined distance and the sixth predetermined distance.

9. A control device for an autonomous vehicle, comprising: A first control unit, configured to, when it is determined that the speed of the vehicle at the current moment is greater than or equal to the speed of the obstacle at the current moment, in response to detecting a lane change instruction and determining that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition, control the vehicle to enter a lane change driving mode, wherein the third distance condition is determined based on a first predetermined distance, the speed of the vehicle and the speed of the obstacle at the current moment, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and A second control unit, configured to, when determining that the speed of the vehicle at the current moment is less than the speed of the obstacle at the current moment, in response to detecting the lane change instruction and determining that the distance between the vehicle and the obstacle at the current moment meets a fourth distance condition, control the vehicle to enter the lane change driving mode, where the fourth distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current moment, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and A second control module, configured to, in response to detecting that the vehicle is passing a lane line, when determining that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line meets a second distance condition, control the vehicle to enter the target lane merging mode, where the moment when the vehicle crosses the line represents the moment when the target position of the vehicle passes the lane line, the second distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into the target lane.

10. The apparatus according to claim 9, further comprising: A first determination module, configured to, in response to detecting that the vehicle has completed the target lane merging mode, determine the acceleration of the obstacle traveling in an expected motion manner according to an end time, a target time, a target distance, and a target speed, where the target distance represents the distance between the obstacle and the vehicle at the target time, the target speed represents the speed of the obstacle at the target time, the end time represents the moment when the whole vehicle enters the target lane, and the target time is determined according to the current time and the obstacle reaction time; and A second determination module, configured to determine the risk level of the vehicle executing the lane change driving mode according to the acceleration, where the risk level is used to represent the influence degree of the vehicle entering the target lane on the obstacle.

11. The apparatus according to claim 10, wherein, The expected motion manner includes a uniformly variable rectilinear motion manner.

12. The device according to claim 10 or 11, wherein, The second determination module includes: A first determination unit, configured to, when determining that the acceleration is greater than or equal to a predetermined acceleration threshold, determine that the risk level of the vehicle executing the lane change driving mode is a safe level, where the predetermined acceleration threshold is greater than or equal to zero.

13. The device according to claim 9, wherein The third distance condition is determined according to a first predetermined distance and a second predetermined distance, where the second predetermined distance is determined according to a first distance corresponding to the time headway and a second distance corresponding to the collision time at the current moment, the first distance is determined according to the speed of the obstacle at the current moment, and the second distance is determined according to the speed of the vehicle and the speed of the obstacle at the current moment; Wherein, the fourth distance condition is determined according to a third predetermined distance and a fourth predetermined distance. The third predetermined distance is determined according to a third distance corresponding to the headway at the current moment, and the fourth predetermined distance is determined according to a fourth distance corresponding to the collision time at the current moment. The third distance is determined according to the speed of the obstacle at the current moment, and the fourth distance is determined according to the speed of the vehicle and the speed of the obstacle at the current moment.

14. The apparatus according to claim 13, further comprising: A third determination module, configured to determine that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition when it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to a first minimum distance, where the first minimum distance is the minimum distance between the first predetermined distance and the second predetermined distance; and A fourth determination module, configured to determine that the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition when it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to a second minimum distance, where the second minimum distance is the minimum distance between the third predetermined distance and the fourth predetermined distance.

15. The device according to any one of claims 9 to 11, 13 to 14, wherein, The second distance condition is determined according to a fifth predetermined distance and a sixth predetermined distance. The sixth predetermined distance is determined according to the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line.

16. The apparatus according to claim 15, further comprising: A fifth determination module, configured to determine that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition when it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line is greater than or equal to a third minimum distance, where the third minimum distance is the minimum distance between the fifth predetermined distance and the sixth predetermined distance.

17. An electronic device, comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the method according to any one of claims 1 to 8.

18. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 8.

19. A computer program product, comprising a computer program, where the computer program, when executed by a processor, implements the method according to any one of claims 1 to 8.

20. An autonomous vehicle, comprising the electronic device according to claim 17.

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