Vehicle autonomous lane changing method and device

Abstract

The present application provides a method and device for autonomous lane change. The method includes: when the vehicle's speed is lower than the vehicle's set speed, obtaining the preceding vehicle's status information and adjacent lane status information; determining the vehicle's lane change intention based on the preceding vehicle's status information and the adjacent lane status information; and determining whether to execute a lane change in response to the vehicle's lane change intention based on the vehicle's lane change intention and the preceding vehicle's steering intention; wherein the preceding vehicle is the first vehicle in the vehicle's lane and located in front of the vehicle; and the preceding vehicle is the second vehicle in the vehicle's lane and located in front of the vehicle. The method of the present application avoids invalid lane changes by the vehicle and reduces the possibility of the vehicle being slowed down after changing lanes.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to a method and device for autonomous lane changing of a vehicle. Background Art

[0002] Assisted driving is a technology that provides drivers with support during the driving process, making it easier and safer for them to navigate the road. Assisted driving is a crucial foundation for autonomous driving, freeing the driver's hands and providing superior driving conditions. Currently, assisted driving features are already being widely deployed in the market.

[0003] Changing lanes to overtake is a common maneuver during driving, and therefore, autonomous lane changing has been identified as a key research area for assisted driving. Existing autonomous lane change assisted driving systems typically only consider the speed of the preceding vehicle and the speed of vehicles in the adjacent lane. When the preceding vehicle's speed is low or the adjacent lane has a high traffic rate, the vehicle automatically changes lanes to the adjacent lane. However, there are many reasons why a vehicle's speed may be compromised during driving. Lane changes that only consider the speed of the preceding vehicle and the speed of vehicles in the adjacent lane may still be compromised after the lane change, resulting in ineffective lane changes.

[0004] Therefore, it is necessary to provide a vehicle autonomous lane changing method that can avoid the vehicle from performing invalid lane changes, so that the vehicle speed is not suppressed after the lane change. Summary of the Invention

[0005] The present application provides a method and device for autonomous lane changing of a vehicle, which is used to solve the problem that the vehicle may still be slowed down after changing lanes, resulting in invalid lane changes.

[0006] In a first aspect, the present application provides a method for autonomous lane changing of a vehicle, comprising:

[0007] When the vehicle speed is lower than the set speed, the preceding vehicle status information and the adjacent lane status information are obtained;

[0008] determining the lane change intention of the vehicle according to the preceding vehicle state information and the adjacent lane state information;

[0009] Determine whether to execute lane change in response to the lane change intention of the own vehicle and the steering intention of the preceding vehicle, based on the lane change intention of the own vehicle and the steering intention of the preceding vehicle; wherein the preceding vehicle is the first vehicle in the lane where the own vehicle is located and located in front of the own vehicle; the preceding vehicle is the second vehicle in the lane where the own vehicle is located and located in front of the own vehicle.

[0010] Optionally, the preceding vehicle status information includes the preceding vehicle speed and the preceding vehicle turn signal information, and the adjacent lane status information includes the adjacent lane vehicle traffic rate; and determining the lane change intention of the own vehicle based on the preceding vehicle status information and the adjacent lane status information includes:

[0011] determining whether the vehicle satisfies a lane-changing condition based on the speed of the preceding vehicle and the traffic rate of the adjacent lane, wherein the lane-changing condition includes at least one of a lane-changing condition for the vehicle to change left and a lane-changing condition for the vehicle to change right;

[0012] determining a turning intention of the preceding vehicle according to the preceding vehicle's turn signal information, wherein the preceding vehicle's turning intention includes at least one of the preceding vehicle changing lanes to the left, the preceding vehicle changing lanes to the right, and the preceding vehicle not changing lanes;

[0013] The lane-changing intention of the vehicle is determined according to the lane-changing condition of the vehicle and the steering intention of the preceding vehicle.

[0014] Optionally, if the set speed of the ego vehicle is greater than the speed of the preceding vehicle, and the traffic rate of vehicles in the left adjacent lane is greater than the traffic rate of the ego vehicle's lane, it is determined that the ego vehicle meets the ego vehicle's lane change condition to the left;

[0015] If the set speed of the own vehicle is greater than the speed of the preceding vehicle, and the traffic rate of vehicles in the right adjacent lane is greater than the traffic rate of the own vehicle's lane, it is determined that the own vehicle meets the lane change condition to the right.

[0016] Optionally, determining the lane-changing intention of the vehicle according to the lane-changing condition of the vehicle and the steering intention of the preceding vehicle includes:

[0017] If the lane change condition of the ego vehicle and the direction of the steering intention of the preceding vehicle are the same, determining the lane change intention of the ego vehicle as canceling the lane change;

[0018] If the lane change condition of the own vehicle and the direction of the steering intention of the preceding vehicle are different, the lane change intention of the own vehicle is determined as changing lanes to the left or right.

[0019] Optionally, the determining whether to execute a lane change in response to the lane change intention of the vehicle and the steering intention of the preceding vehicle includes:

[0020] The ego vehicle shifts to the left or right by a preset distance according to the ego vehicle's lane change intention, and obtains the steering intention of the preceding vehicle;

[0021] If the lane change intention of the vehicle is the same as the steering intention of the preceding vehicle, the lane change is canceled;

[0022] If the lane change intention of the vehicle is different from the steering intention of the preceding vehicle, the lane change is performed.

[0023] In a second aspect, the present application provides a vehicle autonomous lane changing device, comprising:

[0024] An acquisition module is used to acquire the status information of the preceding vehicle and the status information of the adjacent lane when the vehicle speed is lower than the set vehicle speed;

[0025] The control module is configured to determine the lane-changing intention of the ego vehicle based on the preceding vehicle status information and the adjacent lane status information; and to determine whether to execute a lane change in response to the lane-changing intention of the ego vehicle based on the lane-changing intention of the ego vehicle and the steering intention of the preceding vehicle; wherein the preceding vehicle is the first vehicle in the lane in which the ego vehicle is located and located in front of the ego vehicle; and the preceding vehicle is the second vehicle in the lane in which the ego vehicle is located and located in front of the ego vehicle.

[0026] Optionally, the preceding vehicle status information includes the preceding vehicle speed and the preceding vehicle turn signal information, and the adjacent lane status information includes the adjacent lane vehicle traffic rate; the control module is further configured to:

[0027] determining whether the vehicle satisfies a lane-changing condition based on the speed of the preceding vehicle and the traffic rate of the adjacent lane, wherein the lane-changing condition includes at least one of a lane-changing condition for the vehicle to change left and a lane-changing condition for the vehicle to change right;

[0028] determining a turning intention of the preceding vehicle according to the preceding vehicle's turn signal information, wherein the preceding vehicle's turning intention includes at least one of the preceding vehicle changing lanes to the left, the preceding vehicle changing lanes to the right, and the preceding vehicle not changing lanes;

[0029] The lane-changing intention of the vehicle is determined according to the lane-changing condition of the vehicle and the steering intention of the preceding vehicle.

[0030] Optionally, if the set speed of the ego vehicle is greater than the speed of the preceding vehicle, and the traffic rate of vehicles in the left adjacent lane is greater than the traffic rate of the ego vehicle's lane, it is determined that the ego vehicle meets the ego vehicle's lane change condition to the left;

[0031] If the set speed of the own vehicle is greater than the speed of the preceding vehicle, and the traffic rate of vehicles in the right adjacent lane is greater than the traffic rate of the own vehicle's lane, it is determined that the own vehicle meets the lane change condition to the right.

[0032] Optionally, the control module is further configured to: if the lane change condition of the ego vehicle and the steering intention of the preceding vehicle are in the same direction, determine the lane change intention of the ego vehicle as canceling the lane change;

[0033] If the lane change condition of the own vehicle and the direction of the steering intention of the preceding vehicle are different, the lane change intention of the own vehicle is determined as changing lanes to the left or right.

[0034] Optionally, the control module is further configured to: shift the vehicle to the left or right by a preset distance according to the lane-changing intention of the vehicle, and obtain the steering intention of the preceding vehicle;

[0035] If the lane change intention of the vehicle is the same as the steering intention of the preceding vehicle, the lane change is canceled;

[0036] If the lane change intention of the vehicle is different from the steering intention of the preceding vehicle, the lane change is performed.

[0037] In a third aspect, the present application provides a car comprising the vehicle autonomous lane changing device as described above.

[0038] In a fourth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0039] The memory stores computer-executable instructions;

[0040] The processor executes the computer-executable instructions stored in the memory to implement any one of the vehicle autonomous lane changing methods described above.

[0041] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement any of the vehicle autonomous lane changing methods described above.

[0042] According to the sixth invention, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements any one of the vehicle autonomous lane changing methods described above.

[0043] The autonomous lane-changing method provided by the present application obtains the status information of the preceding vehicle and the status information of the adjacent lane when the vehicle's speed is lower than the vehicle's set speed; determines the vehicle's lane-changing intention based on the preceding vehicle's status information and the adjacent lane's status information; and then determines whether to execute the lane change in response to the vehicle's lane-changing intention based on the vehicle's lane-changing intention and the preceding vehicle's steering intention. The preceding vehicle is the first vehicle in front of the vehicle in the vehicle's lane; the preceding vehicle is the second vehicle in front of the vehicle in the vehicle's lane. The method provided by the present application, when determining whether to execute the lane change in response to the vehicle's lane-changing intention, simultaneously considers the preceding vehicle's status information, the adjacent lane's status information, and the preceding vehicle's steering intention, fully considering the possible reasons for the vehicle's speed being reduced, and can effectively avoid invalid lane changes by the vehicle, preventing the vehicle from being speeded down. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] Figure 1 A schematic diagram of a scenario provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of a process flow of a vehicle autonomous lane changing method provided in an embodiment of the present application;

[0047] Figure 3 A logic control flow chart of an assisted driving system provided in an embodiment of the present application when a vehicle autonomously changes lanes;

[0048] Figure 4 A schematic diagram of a scenario in which a vehicle deviates from a lane line according to an embodiment of the present application;

[0049] Figure 5 A schematic diagram of the structure of a vehicle autonomous lane changing device provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0051] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0053] The terms "first," "second," "third," "fourth," and the like (if any) in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the invention described herein, for example, can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0054] Currently, assisted driving systems on the market will control the vehicle to automatically change lanes and overtake when they detect that the vehicle ahead is moving at a lower speed or that the adjacent lane has a high traffic rate. However, this autonomous lane change logic only considers the speed of the vehicle ahead and the speed of the adjacent lane, and does not account for the lane-changing intentions of other vehicles ahead or other factors that affect the vehicle's speed. In reality, there are many reasons why the vehicle's speed may be reduced. If only these conditions are considered, the vehicle may still be under pressure after completing the autonomous lane change, resulting in an ineffective lane change.

[0055] In order to solve the above problems and avoid invalid lane changes by the ego vehicle, this application proposes a vehicle autonomous lane change method, which monitors the status information of the leading vehicle and the vehicle before it as well as the status information of the adjacent lane through a forward-looking sensor, and judges the lane change intentions of the leading vehicle and the vehicle before it in turn. Combined with the lane change conditions of the ego vehicle, it can effectively avoid the ego vehicle being slowed down after entering the adjacent lane.

[0056] First, the preceding vehicle, preceding vehicle, and adjacent lane involved in this application are explained.

[0057] Figure 1 A schematic diagram of a scenario provided in an embodiment of the present application. Figure 1 As shown, the preceding vehicle is the first vehicle in front of the ego vehicle in its lane; the preceding vehicle is the second vehicle in front of the ego vehicle in its lane; the ego vehicle's lane is its lane, the left side of its lane is its left adjacent lane, and the right side of its lane is its right adjacent lane. In actual roads, the left adjacent lane and the right adjacent lane may or may not exist simultaneously. This is not a limitation of the present application, and does not affect the specific implementation of the vehicle autonomous lane change method provided in the embodiments of the present application.

[0058] The following specific embodiments are used to describe in detail the technical solution of the present application and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0059] Figure 2 This is a flow chart of the vehicle autonomous lane changing method provided in the embodiment of the present application. The vehicle autonomous lane changing method provided in this embodiment can be applied to a car equipped with a forward-looking sensor, a main controller, a steering system, and an auxiliary driving system. The execution subject of this embodiment can be the auxiliary driving system. Figure 2 As shown, the vehicle autonomous lane changing method provided in this embodiment includes:

[0060] S201: When the vehicle speed is lower than the set vehicle speed, obtain the preceding vehicle status information and the adjacent lane status information.

[0061] The vehicle's set speed can be flexibly set when the assisted driving system is activated. For example, on ordinary roads, the vehicle's set speed can be set to 70 km / h; on expressways, the vehicle's set speed can be set to 110 km / h; on mountain roads, the vehicle's set speed can be set to 40 km / h; and so on. The vehicle's set speed can also be set to meet actual needs for different roads and driving scenarios, and this application does not impose any restrictions.

[0062] Specifically, when the assisted driving system detects that the vehicle's speed is lower than the set speed of the vehicle, it will automatically obtain the status information of the vehicle in front and the status information of the adjacent lane through the forward-looking sensor, and transmit the obtained information to the main controller.

[0063] Forward-looking sensors include cameras, lidar, and / or millimeter-wave radar. Cameras are primarily used to acquire visual information, such as road conditions, turn signal information from the preceding vehicle and the preceding vehicle, and lane traffic status. Lidar and / or millimeter-wave radars are primarily used to acquire vehicle distance information and motion status information. Distance information includes the distance between the vehicle and the preceding vehicle, the distance between the vehicle and the preceding vehicle, and the distance between the vehicle and the lane markings. Motion status information includes the speed, longitudinal acceleration, heading angle, and lateral acceleration of the vehicle, the preceding vehicle, and the preceding vehicle. This information can be used to determine the current and future driving status of the vehicle, the preceding vehicle, the preceding vehicle, and vehicles in adjacent lanes.

[0064] S202: Determine the lane change intention of the vehicle based on the preceding vehicle status information and the adjacent lane status information.

[0065] Specifically, after the forward-looking sensor acquires and transmits information about the preceding vehicle's status and the adjacent lane's status to the main controller, the main controller can then perform information recognition based on the preceding vehicle's status and the adjacent lane's status. This means the preceding vehicle's driving status and intentions can be determined based on the preceding vehicle's status information, while the traffic conditions in the adjacent lanes can be determined based on the adjacent lane's status information, ultimately determining the vehicle's lane-changing intentions.

[0066] In some optional embodiments, the preceding vehicle status information includes the preceding vehicle's speed and turn signal information, and the adjacent lane status information includes the adjacent lane's vehicle traffic rate. Step S102, determining the vehicle's lane change intention based on the preceding vehicle status information and the adjacent lane status information, may include:

[0067] S2021. Determine whether the vehicle satisfies a lane-changing condition based on a speed of the preceding vehicle and a traffic rate of vehicles in adjacent lanes. The lane-changing condition includes at least one of a left lane-changing condition and a right lane-changing condition.

[0068] The adjacent lane's traffic rate can be determined by determining whether there are vehicles in the adjacent lane or by determining their speed. If there are no vehicles in the adjacent lane within the safe overtaking distance range, or if the speed of the vehicle in the adjacent lane is greater than the set speed of the own vehicle, the adjacent lane's traffic rate is considered to be greater than the own vehicle's lane's traffic rate.

[0069] Optionally, if the set speed of the ego vehicle is greater than the speed of the preceding vehicle, and the traffic rate of the vehicle in the left adjacent lane is greater than the traffic rate of the ego vehicle's lane, it is determined that the ego vehicle meets the ego vehicle's lane change condition to the left;

[0070] If the set speed of the ego vehicle is greater than the speed of the preceding vehicle, and the traffic rate of the vehicle in the right adjacent lane is greater than the traffic rate of the ego vehicle's lane, it is determined that the ego vehicle meets the conditions for changing lanes to the right.

[0071] S2022. Determine the steering intention of the preceding vehicle based on the preceding vehicle's turn signal information. The preceding vehicle's steering intention includes at least one of the preceding vehicle changing lanes to the left, the preceding vehicle changing lanes to the right, and the preceding vehicle not changing lanes.

[0072] Specifically, the vehicle's turn signal information obtained by the forward-looking sensor can be used to determine the vehicle's turning intention. If the vehicle's left turn signal is on, it indicates that the vehicle may be changing lanes to the left. If the vehicle's right turn signal is on, it indicates that the vehicle may be changing lanes to the right. If the vehicle's turn signal is off, it indicates that the vehicle has no intention to turn.

[0073] S2023: Determine the lane-changing intention of the own vehicle based on the lane-changing condition of the own vehicle and the steering intention of the preceding vehicle.

[0074] Optionally, if the lane change condition of the ego vehicle and the direction of the steering intention of the preceding vehicle are the same, the lane change intention of the ego vehicle is determined to be canceling the lane change;

[0075] If the lane change condition of the ego vehicle and the steering intention of the preceding vehicle are in different directions, the lane change intention of the ego vehicle is determined to be a left or right lane change.

[0076] Specifically, the lane-changing intention of the vehicle can be determined based on at least one of the conditions for the vehicle to change lanes to the left and the conditions for the vehicle to change lanes to the right, and at least one of the preceding vehicle changing lanes to the left, the preceding vehicle changing lanes to the right, and the preceding vehicle not changing lanes.

[0077] When the lane change condition of the ego vehicle is to change lanes to the left, if the leading vehicle's turning intention is also to change lanes to the left, then the two lane change directions are the same, and the lane change intention of the ego vehicle is determined to be canceled; if the leading vehicle's turning intention is to change lanes to the right or not to change lanes, then the two lane change directions are different, and the lane change intention of the ego vehicle is determined to be to the left.

[0078] Similarly, when the lane-changing condition for the ego vehicle is to change lanes to the right, if the leading vehicle's turning intention is also to change lanes to the right, then the two lane-changing directions are the same, and the lane-changing intention of the ego vehicle is determined to be canceled; if the leading vehicle's turning intention is to change lanes to the left or not to change lanes, then the two lane-changing directions are different, and the lane-changing intention of the ego vehicle is determined to be to change lanes to the right.

[0079] S203: Determine whether to execute a lane change in response to the lane change intention of the vehicle according to the lane change intention of the vehicle and the steering intention of the preceding vehicle.

[0080] Specifically, after determining the lane-changing intention of the vehicle based on the status information of the preceding vehicle and the adjacent lane status information, it is also necessary to determine whether to execute the lane change in response to the lane-changing intention of the vehicle based on the lane-changing intention of the vehicle and the steering intention of the preceding vehicle to ensure that the vehicle changes lanes effectively.

[0081] In some optional embodiments, determining whether to execute a lane change in response to the lane change intention of the ego vehicle and the steering intention of the preceding vehicle includes:

[0082] The ego vehicle shifts to the left or right by a preset distance based on its lane change intention and obtains the steering intention of the preceding vehicle;

[0083] If the lane change intention of the ego vehicle is the same as the steering intention of the preceding vehicle, the lane change is canceled;

[0084] If the lane change intention of the ego vehicle is different from the steering intention of the preceding vehicle, the lane change is executed.

[0085] Specifically, the ego vehicle shifts to the left or right by a preset distance based on its lane change intention, allowing the camera to detect the preceding vehicle's steering intention. If the ego vehicle intends to change lanes to the left, the ego vehicle shifts to the left by a preset distance; if the ego vehicle intends to change lanes to the right, the ego vehicle shifts to the right by a preset distance, with the specific distance determined based on the actual situation.

[0086] This application does not impose any restrictions on the specific setting of the preset distance, as long as the camera can obtain the steering intention of the vehicle in front and ensure driving safety.

[0087] The turning intention of the preceding vehicle includes at least one of the preceding vehicle changing lanes to the left, the preceding vehicle changing lanes to the right, and the preceding vehicle not changing lanes.

[0088] If the vehicle's lane change intention is determined to be to the left, and the preceding vehicle's turning intention is also to change lanes to the left, the vehicle's lane change will be canceled. Otherwise, the assisted driving system will control the vehicle to execute the vehicle's lane change to the left.

[0089] If the vehicle's lane change intention is determined to be to the right, and the preceding vehicle's turning intention is also to change lanes to the right, the vehicle's lane change will be canceled. Otherwise, the assisted driving system will control the vehicle to execute the vehicle's lane change to the right.

[0090] Optionally, after determining that the ego vehicle meets the conditions for changing lanes left / right, the driving status of the following vehicles in the ego vehicle lane and the adjacent lane can be combined to ensure that the ego vehicle always maintains a safe distance during the lane change process, making the lane change safer for the ego vehicle.

[0091] The autonomous lane-changing method provided in an embodiment of the present application obtains the status information of the preceding vehicle and the status information of the adjacent lane when the vehicle's speed is lower than the vehicle's set speed. The vehicle's lane-changing intention is then determined based on the preceding vehicle's status information and the adjacent lane's status information. The vehicle's lane-changing intention and the preceding vehicle's steering intention are then used to determine whether to execute the lane change in response to the vehicle's lane-changing intention. When determining whether to execute the lane change in response to the vehicle's lane-changing intention, not only the preceding vehicle's status information and the adjacent lane's status information are considered, but also the preceding vehicle's steering intention. This fully considers the possibility that the vehicle's speed reduction may have been caused by the preceding vehicle or the preceding vehicle. This effectively avoids invalid lane changes and reduces the possibility of the vehicle's speed reduction continuing after the lane change, minimizing the risk of the vehicle's speed reduction.

[0092] For example, Figure 3 This is a logic control flow chart of an assisted driving system provided in an embodiment of the present application when a vehicle autonomously changes lanes. Figure 3 As shown in the figure, after the assisted driving system is activated, the assisted driving function is activated, and the assisted driving system controls the vehicle to complete autonomous lane change according to the following logic.

[0093] S31. The vehicle travels at a set speed.

[0094] S32. Determine whether there is a preceding vehicle.

[0095] If it is determined that there is a preceding vehicle, step S33 is executed.

[0096] S33. The vehicle follows the vehicle in front.

[0097] S34. The forward-looking sensor sends the preceding vehicle status information and adjacent lane information to the main controller.

[0098] S35. Determine whether the vehicle satisfies the lane change conditions.

[0099] If the lane-changing condition of the vehicle is not met, the process returns to step S32 ; if the lane-changing condition of the vehicle is met, the process proceeds to step S36 .

[0100] S36. Determine whether the vehicle ahead intends to change lanes in the same direction.

[0101] If the preceding vehicle has the intention to change lanes in the same direction, step S37 is executed and the process returns to step S31 ; if the preceding vehicle has no intention to change lanes in the same direction, step S38 is executed.

[0102] S37. Cancel lane change.

[0103] S38. Control the vehicle to deviate toward the lane line according to the lane change condition.

[0104] S39: Determine whether there is a preceding vehicle.

[0105] If there is no preceding vehicle, step S40 is executed; if there is a preceding vehicle, step S41 is executed.

[0106] S40: Execute lane change.

[0107] S41. The front view sensor sends the turn signal information of the preceding vehicle to the main controller.

[0108] S42. Determine whether the vehicle in front intends to change lanes in the same direction.

[0109] If the preceding vehicle has the intention to change lanes in the same direction, step S37 is executed and the process returns to step S31 ; if the preceding vehicle has no intention to change lanes in the same direction, step S40 is executed.

[0110] This process repeats until the assisted driving function is turned off. The above-mentioned autonomous lane change logic considers the impact of the preceding vehicle and the vehicle before it on the vehicle's lane change, which can effectively prevent the vehicle from making ineffective lane changes.

[0111] like Figure 4 As shown, Figure 4 This is a schematic diagram of a scenario in which the vehicle deviates from the lane line provided in an embodiment of the present application. When it is determined that the preceding vehicle has no intention to change lanes in the same direction, the vehicle controls the vehicle to deviate from the lane line according to the lane change conditions. Figure 4 The ego vehicle shifts toward the left lane line to obtain the status information of the preceding vehicle. Similarly, when the ego vehicle changes lanes to the right, the ego vehicle shifts toward the right lane line to obtain the status information of the preceding vehicle.

[0112] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0113] Figure 5 This is a schematic diagram of the structure of the vehicle autonomous lane changing device provided in the embodiment of the present application. Figure 5 As shown, the vehicle autonomous lane changing device 50 of this embodiment includes: an acquisition module 501 and a control module 502 .

[0114] The acquisition module 501 is used to acquire the status information of the preceding vehicle and the status information of the adjacent lane when the vehicle speed is lower than the set vehicle speed.

[0115] The control module 502 is used to determine the lane change intention of the vehicle based on the status information of the preceding vehicle and the status information of the adjacent lane; and to determine whether to execute the lane change in response to the lane change intention of the vehicle based on the lane change intention of the vehicle and the steering intention of the preceding vehicle; wherein the preceding vehicle is the first vehicle in front of the vehicle in the lane where the vehicle is located; and the preceding vehicle is the second vehicle in front of the vehicle in the lane where the vehicle is located.

[0116] Optionally, the preceding vehicle status information includes the preceding vehicle's speed and the preceding vehicle's turn signal information, and the adjacent lane status information includes the adjacent lane's vehicle traffic rate. The control module 502 is further configured to determine whether the ego vehicle satisfies an ego vehicle lane change condition based on the preceding vehicle's speed and the adjacent lane's vehicle traffic rate, where the ego vehicle lane change condition includes at least one of a ego vehicle lane change condition to the left and a ego vehicle lane change condition to the right.

[0117] determining a turning intention of the preceding vehicle according to the turn signal information of the preceding vehicle, the turning intention of the preceding vehicle including at least one of the preceding vehicle changing lanes to the left, the preceding vehicle changing lanes to the right, and the preceding vehicle not changing lanes;

[0118] Determine the lane-changing intention of the vehicle based on the vehicle's lane-changing conditions and the preceding vehicle's steering intention.

[0119] Optionally, if the set speed of the ego vehicle is greater than the speed of the preceding vehicle, and the traffic rate of the vehicle in the left adjacent lane is greater than the traffic rate of the ego vehicle's lane, it is determined that the ego vehicle meets the ego vehicle's lane change condition to the left;

[0120] If the set speed of the ego vehicle is greater than the speed of the preceding vehicle, and the traffic rate of the vehicle in the right adjacent lane is greater than the traffic rate of the ego vehicle's lane, it is determined that the ego vehicle meets the conditions for changing lanes to the right.

[0121] Optionally, the control module 502 is further configured to determine the lane change intention of the ego vehicle as canceling the lane change if the lane change condition of the ego vehicle and the direction of the steering intention of the preceding vehicle are the same;

[0122] If the lane change condition of the ego vehicle and the steering intention of the preceding vehicle are in different directions, the lane change intention of the ego vehicle is determined to be a left or right lane change.

[0123] Optionally, the control module 502 is further configured to offset a preset distance to the left or right according to the lane-changing intention of the ego vehicle, and obtain the steering intention of the preceding vehicle; if the lane-changing intention of the ego vehicle is the same as the steering intention of the preceding vehicle, cancel the lane change; if the lane-changing intention of the ego vehicle is different from the steering intention of the preceding vehicle, execute the lane change.

[0124] It should be noted that it should be understood that the division of the various modules of the above device is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. Moreover, these modules can all be implemented in the form of software called by processing elements; they can also all be implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. In addition, they can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The implementation of other modules is similar. In addition, these modules can all or partly be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the hardware integrated logic circuit in the processor element or by instructions in the form of software.

[0125] An embodiment of the present application also provides a car, comprising the vehicle autonomous lane changing device as described in the above embodiment.

[0126] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 6 As shown, the electronic device 60 includes a processor 601 and a memory 602 communicatively connected to the processor.

[0127] The memory 602 stores computer-executable instructions; the processor 601 executes the computer-executable instructions stored in the memory 602 to implement any of the aforementioned vehicle autonomous lane changing methods.

[0128] In the specific implementation of the above-mentioned electronic device, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or any conventional processor. The method disclosed in conjunction with the embodiments of the present application can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0129] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement any of the aforementioned vehicle autonomous lane changing methods.

[0130] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with computer instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0131] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement any of the aforementioned vehicle autonomous lane changing methods.

[0132] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0133] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle autonomous lane changing method, characterized in that: The method comprises: When the vehicle speed is lower than the set speed, the preceding vehicle status information and the adjacent lane status information are obtained; determining the lane change intention of the vehicle according to the preceding vehicle state information and the adjacent lane state information; Determine whether to execute lane change in response to the lane change intention of the own vehicle and the steering intention of the preceding vehicle, based on the lane change intention of the own vehicle and the steering intention of the preceding vehicle; wherein the preceding vehicle is the first vehicle in the lane where the own vehicle is located and located in front of the own vehicle; the preceding vehicle is the second vehicle in the lane where the own vehicle is located and located in front of the own vehicle.

2. The vehicle autonomous lane changing method according to claim 1, characterized in that: The preceding vehicle state information includes the preceding vehicle speed and the preceding vehicle turn signal information, and the adjacent lane state information includes the adjacent lane vehicle traffic rate; and determining the lane change intention of the own vehicle based on the preceding vehicle state information and the adjacent lane state information includes: determining whether the vehicle satisfies a lane-changing condition based on the speed of the preceding vehicle and the traffic rate of the adjacent lane, wherein the lane-changing condition includes at least one of a lane-changing condition for the vehicle to change left and a lane-changing condition for the vehicle to change right; determining a turning intention of the preceding vehicle according to the preceding vehicle's turn signal information, wherein the preceding vehicle's turning intention includes at least one of the preceding vehicle changing lanes to the left, the preceding vehicle changing lanes to the right, and the preceding vehicle not changing lanes; The lane-changing intention of the vehicle is determined according to the lane-changing condition of the vehicle and the steering intention of the preceding vehicle.

3. The vehicle autonomous lane changing method according to claim 2, characterized in that: If the set speed of the ego vehicle is greater than the speed of the preceding vehicle, and the traffic rate of the vehicle in the left adjacent lane is greater than the traffic rate of the ego vehicle's lane, it is determined that the ego vehicle meets the ego vehicle's lane change condition to the left; If the set speed of the own vehicle is greater than the speed of the preceding vehicle, and the traffic rate of vehicles in the right adjacent lane is greater than the traffic rate of the own vehicle's lane, it is determined that the own vehicle meets the lane change condition to the right.

4. The vehicle autonomous lane changing method according to claim 3, characterized in that: The determining the lane-changing intention of the vehicle according to the lane-changing condition of the vehicle and the steering intention of the preceding vehicle includes: If the lane change condition of the ego vehicle and the direction of the steering intention of the preceding vehicle are the same, determining the lane change intention of the ego vehicle as canceling the lane change; If the lane change condition of the own vehicle and the direction of the steering intention of the preceding vehicle are different, the lane change intention of the own vehicle is determined as changing lanes to the left or right.

5. The vehicle autonomous lane changing method according to any one of claims 1 to 4, characterized in that: The determining, based on the lane-changing intention of the vehicle and the steering intention of the preceding vehicle, whether to execute the lane change in response to the lane-changing intention of the vehicle includes: The ego vehicle shifts to the left or right by a preset distance according to the ego vehicle's lane change intention, and obtains the steering intention of the preceding vehicle; If the lane change intention of the vehicle is the same as the steering intention of the preceding vehicle, the lane change is canceled; If the lane change intention of the vehicle is different from the steering intention of the preceding vehicle, the lane change is performed.

6. A vehicle autonomous lane changing device, characterized in that: include: An acquisition module is used to acquire the status information of the preceding vehicle and the status information of the adjacent lane when the vehicle speed is lower than the set vehicle speed; a control module, configured to determine the lane change intention of the vehicle based on the preceding vehicle state information and the adjacent lane state information; And according to the lane-changing intention of the own vehicle and the steering intention of the preceding vehicle, determining whether to execute lane change in response to the lane-changing intention of the own vehicle; wherein the preceding vehicle is the first vehicle in the lane where the own vehicle is located and located in front of the own vehicle; the preceding vehicle is the second vehicle in the lane where the own vehicle is located and located in front of the own vehicle.

7. An automobile, characterized in that: It includes the vehicle autonomous lane changing device as claimed in claim 6.

8. An electronic device comprising: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 5 when executed by a processor.

10. A computer program product comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method according to any one of claims 1 to 5.

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