Vehicle lane change control method, device and vehicle

Abstract

The present invention discloses a vehicle lane change control method, device and vehicle, the method comprising determining a predetermined vehicle lane change tendency event; obtaining the trajectory range of the vehicle lane change according to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model; determining that the trajectory range of the vehicle lane change includes a prohibited line in a road traffic marking; and issuing an instruction. The present invention can avoid illegal driving caused by the vehicle crossing the prohibited line in the road traffic marking during the lane change process, or driving risks caused by emergency steering to avoid illegal driving, thereby improving driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and more specifically, to a vehicle lane change control method, device and vehicle. Background Art

[0002] When a vehicle is driving and there are obstacles such as larger vehicles in front of it, the driver's line of sight or the observation range of the camera will be limited. At this time, the driver may decide to change lanes to overtake or avoid the obstacle vehicle in front. Due to the obstruction of the obstacle vehicle, the lane change trajectory predicted within the observation range of the driver or camera may be in the lane change area, for example, the road traffic marking is a dotted line. However, the predicted lane change trajectory at this time may include the prohibited markings in some road traffic markings, such as solid lines. Lane changes are not allowed in the lane lines of this solid line part, otherwise it will violate traffic rules and cause traffic risks. Therefore, when the vehicle actually changes lanes, it may be found that it may need to cross the solid line part of the road traffic marking during the lane change process. In order to avoid violating traffic rules, it has to make an emergency turn and return to the original lane. The emergency turn will cause driving risks and endanger vehicle safety. Therefore, it is necessary to provide a technical solution that enables a lane-changing vehicle to predict in advance whether its lane change needs to cross the prohibited markings of the road traffic markings. Summary of the invention

[0003] An object of the present invention is to provide a new technical solution for controlling vehicle lane changes.

[0004] According to a first aspect of the present disclosure, a vehicle lane change control method is provided, comprising:

[0005] Determining that a predetermined vehicle lane change event occurs;

[0006] According to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model, obtaining the trajectory range of the vehicle lane change;

[0007] Determining that the trajectory range of the vehicle changing lanes includes a prohibited marking in a road traffic marking;

[0008] Issue instructions.

[0009] Preferably, the predetermined vehicle lane change trend event includes at least one of the following events:

[0010] The turning signal of the vehicle is triggered, the vehicle steering angle is greater than a predetermined threshold, and the vehicle steering speed is greater than a predetermined threshold.

[0011] Preferably, the real-time driving characteristics of the vehicle include:

[0012] The vehicle's real-time driving direction, vehicle steering angle, vehicle geographic location and vehicle speed.

[0013] Preferably, in the method, determining that the trajectory range of the vehicle changing lanes includes a prohibited marking in a road traffic marking comprises:

[0014] Setting the trajectory range of the vehicle's lane change to a location system of the vehicle that currently contains map data;

[0015] It is determined that at least a portion of the prohibition markings in the road traffic markings is within the trajectory range of the vehicle lane change set in the position system containing the map data.

[0016] Preferably, the preset vehicle lane change trajectory range model includes a model of the vehicle position of the vehicle changing with time and vehicle speed under the same vehicle steering angle;

[0017] Wherein, according to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model, obtaining the lane change trajectory range of the vehicle includes:

[0018] According to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model, a first lane change trajectory with a maximum curvature and a second lane change trajectory with a minimum curvature are obtained;

[0019] The vehicle lane change trajectory range is determined based on the first and second lane change trajectories.

[0020] Preferably, the issuing of an instruction comprises:

[0021] Issue control instructions to the driving assistance / automatic driving system and / or issue prompt information to the driver.

[0022] Preferably, the prompt information includes at least one of the following prompts:

[0023] Visual cues, auditory cues, and tactile cues.

[0024] Preferably, the method further comprises:

[0025] The driving assistance / automatic driving system controls the vehicle to stop changing lanes according to the control instruction to return to the original lane; or,

[0026] Get the input torque, and

[0027] The vehicle is controlled to stop changing lanes and return to the original lane according to the input torque.

[0028] According to a second aspect of the present disclosure, a vehicle lane change control device is also provided, characterized in that it includes:

[0029] An event determination module, used to determine the occurrence of a predetermined vehicle lane change tendency event;

[0030] A trajectory range acquisition module, used to acquire the trajectory range of the lane change of the vehicle according to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model;

[0031] A prohibited marking confirmation module, used to determine that the trajectory range of the vehicle changing lanes includes prohibited markings in road traffic markings;

[0032] The communication module is used to issue instruction commands.

[0033] According to a third aspect of the present disclosure, a vehicle is also provided, comprising the vehicle lane change control device disclosed in the above second aspect, or comprising a memory and a processor, wherein the memory stores computer instructions, and the computer instructions are executed by the processor to implement the aforementioned vehicle lane change control method.

[0034] One beneficial effect of the embodiments of the present disclosure is that, through the vehicle lane change control method of the present disclosure, a predetermined vehicle lane change tendency event is determined to occur, and the trajectory range of the vehicle lane change is obtained according to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model, and it is determined that the trajectory range of the vehicle lane change includes a prohibited marking in a road traffic marking, and an instruction is issued, thereby avoiding the driving risks caused by the vehicle making an emergency turn to avoid passing through the prohibited marking in the road traffic marking during the lane change process, and the illegal driving caused by continuing to change lanes and crossing the prohibited marking without timely discovering the prohibited marking, etc., thereby improving driving safety.

[0035] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0037] Figure 1 is a block diagram showing an example of a hardware configuration that can be used to implement a vehicle lane change control according to an embodiment of the present invention;

[0038] Figure 2a , Figure 2b It is a schematic diagram of the prior art in the technical field to which the present invention belongs;

[0039] Figure 3 A flow chart of a vehicle lane change control method provided by an embodiment of the present disclosure is shown;

[0040] Figure 4a , Figure 4b is a schematic diagram of a vehicle lane change control method according to an embodiment of the present invention;

[0041] Figure 5is a schematic block diagram of a vehicle lane change control device according to an embodiment;

[0042] Figure 6 is a schematic diagram of a vehicle according to one embodiment. DETAILED DESCRIPTION

[0043] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0046] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0047] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0048] <Implementation Environment and Hardware Configuration>

[0049] Figure 1 is a block diagram showing an example of a hardware configuration of a vehicle lane change control system 100 that can be used to implement an embodiment of the present invention.

[0050] like Figure 1 As shown, the vehicle lane change control system 100 includes a vehicle 1000, a server 2000, and a network 3000. It should be appreciated that the overall architecture, settings, and operations, as well as the individual components of the system as shown here are well known in the art. Therefore, the following paragraphs only provide an overview of such an exemplary environment, and other systems that include or adopt the autonomous driving system architecture shown in this implementation environment or have the relevant functions described herein can also serve as the implementation environment of the present technical solution.

[0051] The vehicle 1000 may be, for example, various types of automobiles, multi-purpose vehicles (MPVs), sport / suburban utility vehicles (SUVs), crossover utility vehicles (CUVs), recreational vehicles (RVs), autonomous vehicles (AVs), trucks, other mobile machines for transporting people or goods, etc. In many cases, the power supply mode of the vehicle 1000 may be, for example, powered by an internal combustion engine. The vehicle 1000 may also be a hybrid electric vehicle (HEV) powered by both an internal combustion engine and one or more electric motors, such as a series hybrid electric vehicle (SHEV), a parallel hybrid electric vehicle (PHEV), a parallel and series hybrid electric vehicle (PSHEV), etc. The type and power supply mode of the vehicle 1000 may be in any form, and the aforementioned examples are not limiting.

[0052] The vehicle 1000 may be provided with an electronic system, which may include, for example, a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, an output device 1500, an input device 1600, a navigation device 1700, and the like. The processor 1100 may be a microprocessor MCU, and the like. The memory 1200 may include, for example, a ROM (read-only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, and the like. The interface device 1300 may include, for example, a USB interface, a headphone interface, and the like. The communication device 1400 may, for example, be capable of wired or wireless communication, and may, for example, be capable of short-distance and long-distance communication.

[0053] The output device 1500 may be, for example, a device that outputs signals, and may be a display device, such as a liquid crystal display, a touch screen, a speaker, etc. The input device 1600 may include, for example, a touch screen, a button, a knob, a keyboard, a microphone, a camera, etc. When the input device 1600 is a camera, the status of the occupants in the vehicle may be acquired in real time, and it may be matched with an embedded voice processing unit using a human machine interface (HMI) technology known in the art, or it may be an independent component.

[0054] The navigation device 1700, for example, has a receiver of a global navigation satellite system GNSS (Global Navigation Satellite System), a global positioning system GPS (Global Positioning System) or a BeiDou Navigation Satellite System BDS (BeiDou Navigation Satellite System), a navigation HMI (Human Machine Interface) and a path determination unit. The navigation device 1700 stores map information in a storage device such as an HDD (Hard Disk Drive) or a flash memory. The receiver determines the position of the vehicle 1000 based on the signal received from the satellite such as the GNSS. The position of the vehicle 1000 can also be determined or supplemented by using the INS (Inertial Navigation System) output by the vehicle sensor, etc. The path determination unit, for example, refers to the map information to determine the path from the position of the vehicle 1000 determined by the receiver such as the GNSS (or any input position) to the destination input by the passenger using the navigation HMI. The map information is, for example, information on the shape of the road represented by the lines representing the road and the nodes connected by the lines. The map information can also include the curvature of the road, POI (Point Of Interest), geographical coordinate information of each position on the road, and driving road information. The navigation device 1700 can also be implemented by the functions of terminal devices such as smart phones and tablet terminals held by passengers. The navigation device 1700 can also send the current location and destination to the navigation server via the communication device 1400, and obtain a path equivalent to the path on the map from the navigation server. The vehicle electronic system can determine the geographical location of the vehicle and the planned driving path through the navigation device, and can also upload the geographical location data to the server.

[0055] Despite Figure 1 1000, but the present technical solution may only use some of the devices, for example, the vehicle 1000 only involves the input device 1600 and the output device 1500. Alternatively, it may also include Figure 1 Not shown are the lighting system controlled by the processor 1100 and the sensor device for detecting the vehicle's surrounding environment.

[0056] Server 2000 provides a business point for processing, database, communication facilities, etc. Server 2000 may include a monolithic server or a distributed server across multiple computers or computer data centers. The server may be of various types, such as but not limited to a network server, a news server, a mail server, a message server, an advertising server, a file server, an application server, an interactive server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or an embedded logic component or a combination of two or more such components for executing the appropriate functions supported or implemented by the server. For example, a server such as a blade server, a cloud server, etc., or may be a server group consisting of multiple servers, which may include one or more of the above-mentioned types of servers, etc.

[0057] In one embodiment, the server 2000 may be as follows Figure 1 As shown, the server 2000 includes a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, and an input device 2600. In another embodiment, the server 2000 may also include a speaker, a microphone, etc., which are not limited here.

[0058] The processor 2100 may be a dedicated server processor, or a desktop processor or a mobile processor that meets the performance requirements, etc., which is not limited here. The memory 2200 includes, for example, ROM (read-only memory), RAM (random access memory), and non-volatile memory such as a hard disk. The interface device 2300 includes, for example, various bus interfaces, such as a serial bus interface (including a USB interface), a parallel bus interface, etc. The communication device 2400 is, for example, capable of wired or wireless communication. The display device 2500 is, for example, a liquid crystal display, a touch display, etc. The input device 2600 may include, for example, a touch screen, a keyboard, etc. Although in Figure 1 2 shows multiple devices of the server 2000 , but the present invention may only involve some of the devices, for example, the server 2000 only involves the memory 2200 and the processor 2100 .

[0059] The network 3000 may include not only wireless communication networks and wired communication networks, but also generally refers to all communication methods that can be used for communication, such as optical fiber communication, ordinary microwave communication, power line carrier communication, wired audio cable communication, ultra-high frequency radio station communication, wireless spread spectrum communication, infrared, Bluetooth, radio frequency identification (RFID), keyless entry and smart key, etc. Figure 1In the illustrated automatic driving system 100, the communication method between the vehicle 1000 and the server 2000 may be wireless communication through a network 3000, and the communication method between the vehicle 1000 and other vehicles may be wireless communication or Bluetooth. In addition, the network 3000 based on which the vehicle 1000 and the server 2000, and the vehicle 1000 and other vehicles communicate may be the same or different.

[0060] It should be understood that although Figure 1 Only one vehicle 1000 , server 2000 , and network 3000 are shown, but this does not mean that the respective numbers are limited, and the vehicle lane change control system 100 may include multiple vehicles 1000 , multiple servers 2000 , and multiple networks 3000 .

[0061] In the above description, the technician can design instructions according to the solution provided by the present disclosure. How instructions control the processor to operate is well known in the art, so it will not be described in detail here.

[0062] Figure 1 The computing system shown is merely illustrative and is in no way intended to limit the invention, its application, or uses.

[0063] <Method Example>

[0064] An application scenario of this embodiment is that a vehicle performs a lane change operation when the vehicle ahead blocks the view. Figure 2a As shown, on a city road or highway road, when vehicle V1 is driving behind a large truck K1 in front, it may decide to change lanes to overtake the large truck K1. At this time, due to the obstruction of the vehicle in front, the driver's line of sight or the observable range of the camera is limited. At this time, the observation range of vehicle V1 is C1. Within the observation range, the road traffic markings that vehicle V1 can change lanes on are the dotted lines shown in S2, that is, the lane change markings. In the range that the driver cannot observe, the road traffic markings may be the solid lines shown in S1, that is, the lane change and other vehicle passing markings. When the line of sight is limited, the lane change route planned by the automatic driving system or the driver according to the observation range C1 is T1.

[0065] When the vehicle V1 changes lanes according to the lane change route T1, Figure 2b The situation shown. When the vehicle V1 crosses the lane line, it will find that the road traffic marking in front of it is a solid line S1. If it continues to change lanes, it will violate the traffic rules. At this time, the vehicle V1 can only be forced to turn sharply to avoid violating the traffic rules. Therefore, there is a safety hazard and accidents such as vehicle rollover are prone to occur. In order to solve the risk of changing lanes when the above-mentioned vehicle is blocked, the present invention provides a new vehicle lane change control method.

[0066] Figure 3FIG. 1 is a flow chart of a vehicle lane change control method according to an embodiment. In this embodiment, the vehicle 1000 is taken as an example to illustrate the vehicle lane change control method of this embodiment.

[0067] like Figure 3 As shown, the lane change control method of this embodiment may include the following steps S310 to S340:

[0068] Step S310, determining that a predetermined vehicle lane change event occurs.

[0069] In this embodiment, when the front of the vehicle is blocked by obstacles such as large vehicles, it is necessary to confirm whether the predicted lane change trajectory may need to pass through the prohibited line of the road traffic marking before confirming whether the vehicle will change lanes. At this time, it can be determined whether the vehicle has a tendency to change lanes by detecting the driving changes that occur when the vehicle starts to change lanes.

[0070] The vehicle lane change tendency event in this embodiment refers to an event indicating that the vehicle is about to change lanes, and is used to determine that the vehicle is about to change lanes according to the occurrence of the event.

[0071] According to common sense of traffic safety, a vehicle needs to turn on its turn signal 3 seconds in advance when changing lanes. Therefore, in one embodiment, the predetermined vehicle lane change tendency event in step S310 may be, for example, the vehicle's turn signal being triggered, i.e., the vehicle's turn signal light being turned on, thereby confirming that the vehicle is about to change lanes.

[0072] The vehicle usually needs to turn before changing lanes. Therefore, in one embodiment, a threshold value of the vehicle steering angle may be predetermined, and the vehicle steering angle greater than the predetermined threshold value is used as a predetermined vehicle lane change tendency event in step S310 to determine that the vehicle is about to change lanes. In addition, the steering speed of the vehicle will also increase when changing lanes. In one embodiment, a threshold value of the vehicle steering speed may also be predetermined, and the vehicle steering speed greater than the predetermined threshold value is used as a predetermined vehicle lane change tendency event in step S310 to determine that the vehicle is about to change lanes.

[0073] In one embodiment, the vehicle lane change trend event predetermined in step S310 may also be, for example, a combination of one or more of the vehicle turning signal being triggered, the vehicle steering angle being greater than a predetermined threshold, and the vehicle steering speed being greater than a predetermined threshold in the above embodiment.

[0074] Step S320, obtaining the trajectory range of the vehicle lane change according to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model.

[0075] The real-time driving characteristics of the vehicle in this embodiment refer to data that can show the driving status of the vehicle. For example, in one embodiment, the real-time driving characteristics of the vehicle in step S320 may include the real-time driving direction of the vehicle, the steering angle of the vehicle, the geographic location of the vehicle, and the speed of the vehicle.

[0076] The vehicle lane change trajectory range model preset in this embodiment refers to a vehicle lane change trajectory range model that can be obtained by using the aforementioned vehicle real-time driving characteristics according to the model.

[0077] In one embodiment, the vehicle lane change trajectory range model preset in step S320 may include, for example, a model of the vehicle position changing over time and the vehicle speed under the same vehicle steering angle. The vehicle lane change trajectory range model preset in step S320 may also include a model of the vehicle position changing over time and the vehicle acceleration under many different vehicle steering angles. The steering angle needs to change continuously during the vehicle lane change process. Based on the acquired real-time driving characteristics of the vehicle, the position of the vehicle is predicted by the change of the real-time speed and time of the vehicle under different steering angles. The vehicle position trajectory is connected to obtain a vehicle lane change trajectory.

[0078] In one embodiment, the preset vehicle lane change trajectory range model may be based on two different sets of parameters, for example, one set of parameters may determine a predicted trajectory with a larger curvature, and the other set of parameters may determine a predicted trajectory with a smaller curvature. Two predicted trajectories with large differences in curvature may be obtained based on the same vehicle real-time driving characteristics through two different sets of parameters.

[0079] In one embodiment, the preset vehicle lane change trajectory range model can also be based on the average value, median value, etc. of the curvature of the lane change trajectory of the vehicle in the past period of time, such as the past 30 minutes, as a model parameter. For example, it can also be based on the average value, median value, etc. of the curvature of the lane change trajectory of the vehicle in the most recent few times, such as the past 5 times as a model parameter.

[0080] In one embodiment, the vehicle's lane change trajectory range is obtained based on the vehicle's real-time driving characteristics and a preset vehicle lane change trajectory range model. For example, the first lane change trajectory with the largest curvature and the second lane change trajectory with the smallest curvature are first obtained based on the vehicle's real-time driving characteristics and a preset vehicle lane change trajectory range model, and then the vehicle's lane change trajectory range is determined based on the first and second lane change trajectories. The vehicle's lane change trajectory range may include, for example, multiple trajectories for the vehicle to change lanes. Within the trajectory range, the vehicle may change lanes according to different vehicle lane change trajectories. The first and second lane change trajectories are only used to determine the vehicle's lane change trajectory range, and are not necessarily required to be executed when the vehicle performs a lane change.

[0081] like Figure 4aAs shown, for example, the variable lane trajectory range of the vehicle V2 can be determined based on the right side trajectory edge of the first lane-changing trajectory G1 with the largest curvature and the left side trajectory edge of the second lane-changing trajectory G2 with the smallest curvature, as shown in FIG. Figure 4b As shown in the G3, the first lane-changing trajectory with the largest curvature has a larger turning motion during the lane-changing process, and the passengers in the vehicle have a significant dynamic feeling. The second lane-changing trajectory with the smallest curvature has a smoother lane-changing trajectory, and the passengers in the vehicle will feel more comfortable.

[0082] Step S330, determining that the trajectory range of the vehicle changing lanes includes a prohibited marking in the road traffic markings.

[0083] In this embodiment, the prohibition marking refers to a marking that indicates special regulations such as compliance, prohibition, and restriction of road traffic, and vehicle drivers and pedestrians must strictly abide by it. For example, the prohibition marking relative to vehicles can be a single yellow solid line, a double yellow solid line, a white solid line, a guide line, etc.

[0084] In this embodiment, by determining that the trajectory range of the vehicle's lane change includes the prohibited markings in the road traffic markings, it can be determined in time that the vehicle may cross the prohibited markings when changing lanes, thereby avoiding the risk of illegal driving or emergency turning back to the original lane caused by directly changing lanes after observing a solid line during the vehicle's lane change process.

[0085] In one embodiment, the step of determining in step S330 that the trajectory range of the vehicle's lane change includes the prohibited markings in the road traffic markings may be, for example, setting the trajectory range of the vehicle's lane change to the vehicle's current location system containing map data, and the location system containing map data in the vehicle will display the vehicle's natural location and the planned path and actual road markings, etc. In this embodiment, the application of the location system containing map data in the vehicle may include at least two parts, one part in the vehicle navigation system, and the other part in the vehicle's driving assistance / automatic driving system.

[0086] By displaying the trajectory range of the vehicle's lane change in the vehicle's current location system containing map data, it can be determined whether the trajectory range of the vehicle's lane change includes at least a portion of the prohibited markings in the road traffic markings.

[0087] Step S340: issuing an instruction.

[0088] In this embodiment, after determining that the trajectory range of the vehicle's lane change includes the prohibited markings in the road traffic markings, an instruction is issued to promptly remind the person ahead that the lane change may violate traffic regulations and involve driving risks, thereby ensuring driving safety.

[0089] In one embodiment, issuing the instruction in step S340 may include, for example, issuing a control instruction to the driving assistance / automatic driving system, and may also include issuing a prompt message to the driver. When the driving assistance / automatic driving system of the vehicle is turned on, a control instruction may be issued to the driving assistance / automatic driving system to avoid illegal lane changes. When the vehicle is in manual driving, a prompt message may be issued to the driver, who may decide how to control the vehicle.

[0090] In addition, when the vehicle is in driving assistance / automatic driving mode, it can also send prompt information to the driver at the same time, and the driver can decide whether to take over the vehicle and whether the vehicle stops changing lanes, etc. Prompts are given to the driver, and the driver decides the vehicle's running trajectory, which improves the user experience.

[0091] The driving assistance / automatic driving system in this embodiment is a system for controlling a vehicle that is differentiated according to different levels of driving systems.

[0092] In one embodiment, the prompt information sent to the driver may include visual prompts, such as showing the driver an illegal lane change screen or a dangerous driving screen. It may also include auditory prompts, such as sending a voice message prompt such as "illegal lane change" to the driver. It may also be a tactile prompt, such as prompting the driver through tactile methods such as steering wheel vibration and seat vibration. At the same time, the above prompt methods can also be selectively used in combination to improve the driver's channels for receiving information, ensure that the driver can receive information in a timely manner, and drive safely.

[0093] In one embodiment, the vehicle lane change control method may include, for example, controlling the vehicle to stop lane change and return to the original lane according to a control instruction by the driving assistance / automatic driving system. For example, a control instruction to stop lane change and continue driving in the original lane is sent to the driving assistance / automatic driving system. For example, the method may also include obtaining an input torque and controlling the vehicle to stop lane change and return to the original lane according to the input torque.

[0094] In addition, after determining that the vehicle lane change trajectory range includes the prohibited markings in the road traffic markings, since the vehicle lane change trajectory range includes multiple vehicle lane change trajectories, the vehicle lane change trajectory that will not cross the prohibited markings can also be distinguished. Furthermore, a vehicle lane change trajectory that will not cross the prohibited markings can be selected based on the principle of safety and comfort priority, and the vehicle speed and vehicle steering can be controlled by the driving assistance / automatic driving system to change lanes. The vehicle lane change trajectory can also be output and displayed to the driver for the driver to decide whether to change lanes. Improve the flexibility of vehicle lane changes.

[0095] By using the vehicle lane change control method disclosed in the present invention, it is determined that a predetermined vehicle lane change tendency event has occurred, and based on the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model, the trajectory range of the vehicle lane change is obtained, and it is determined that the trajectory range of the vehicle lane change includes a prohibited marking in a road traffic marking, and an instruction is issued. This can avoid the driving risks caused by the vehicle making an emergency turn to avoid passing through a prohibited marking in a road traffic marking during the lane change process, and the illegal driving caused by continuing to change lanes and crossing the prohibited marking without timely discovering the prohibited marking, thereby improving driving safety.

[0096] <Example>

[0097] Figure 4a , Figure 4b Taking the lane changing process of vehicle V2 when there is a visual obstruction in front of the vehicle as an example, this is an example in the implementation of this method.

[0098] exist Figure 4a In the process, it is determined that the turning signal of vehicle V2 is triggered and / or the vehicle steering angle is greater than a predetermined threshold and / or the vehicle steering speed is greater than a predetermined threshold.

[0099] The real-time driving characteristics of the vehicle V2 are obtained including: the real-time driving direction of the vehicle, the steering angle of the vehicle, the geographic location of the vehicle and the speed of the vehicle.

[0100] According to the real-time driving characteristics of the vehicle V2 and a preset vehicle lane-changing trajectory range model, a first lane-changing trajectory G1 with a maximum curvature and a second lane-changing trajectory G2 with a minimum curvature are obtained.

[0101] The lane changing trajectory range G3 of the vehicle V2 is determined according to the first lane changing trajectory G1 and the second lane changing trajectory G2, such as Figure 4b shown.

[0102] The lane change trajectory range G3 of the vehicle V2 is set to the current position system of the vehicle V2 containing the map data, and it is determined that at least a portion of the prohibited markings in the road traffic markings is within the vehicle lane change trajectory range G3 set in the position system containing the map data. Figure 4b As shown in FIG. 1 , the trajectory range G3 includes a dashed line portion S22 of the road traffic markings and a prohibited marking portion S12 represented by a solid line.

[0103] Send control instructions to the driving assistance / automatic driving system and / or send prompt information to the driver. The prompt information sent to the driver can be a visual prompt, an auditory prompt, or a tactile prompt.

[0104] The driving assistance / automatic driving system controls the vehicle to stop changing lanes and return to the original lane according to the control instruction; or, obtains the input torque and controls the vehicle V2 to stop changing lanes and return to the original lane according to the input torque.

[0105] <Device Example>

[0106] Figure 5 A vehicle lane change control device 500 is shown. The device 500 may include an event determination module 510 , a trajectory range acquisition module 520 , a prohibition marking confirmation module 530 and a communication module 540 .

[0107] The event determination module 510 is used to determine the occurrence of a predetermined vehicle lane change trend event.

[0108] The trajectory range acquisition module 520 is used to acquire the trajectory range of the vehicle lane change according to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model.

[0109] The prohibition marking confirmation module 530 is used to determine that the trajectory range of the vehicle changing lanes includes a prohibition marking in the road traffic markings.

[0110] The communication module 540 is used to issue an instruction.

[0111] In one embodiment, the predetermined vehicle lane change tendency event in the vehicle lane change control device 500 includes at least one of the following events: a turn signal of the vehicle is triggered, a vehicle steering angle is greater than a predetermined threshold, and a vehicle steering speed is greater than a predetermined threshold.

[0112] In one embodiment, the real-time driving characteristics of the vehicle in the vehicle lane change control device 500 include: the real-time driving direction of the vehicle, the steering angle of the vehicle, the geographic location of the vehicle and the speed of the vehicle.

[0113] In one embodiment, the prohibited line confirmation module 530 also includes a setting module, which is used to set the trajectory range of the vehicle's lane change to the vehicle's current position system containing map data; the prohibited line confirmation module 530 is also used to determine that at least a portion of the prohibited line in the road traffic marking is within the trajectory range of the vehicle's lane change set in the position system containing map data.

[0114] In one embodiment, the vehicle lane change trajectory range model preset in the vehicle lane change control device 500 includes a model of the vehicle position of the vehicle changing with time and the vehicle speed under the same vehicle steering angle.

[0115] Among them, the trajectory range acquisition module 520 acquires the lane changing trajectory range of the vehicle according to the real-time driving characteristics of the vehicle and the preset vehicle lane changing trajectory range model, including: the trajectory range acquisition module 520 is used to acquire a first lane changing trajectory with the largest curvature and a second lane changing trajectory with the smallest curvature according to the real-time driving characteristics of the vehicle and the preset vehicle lane changing trajectory range model; the trajectory range acquisition module 520 is used to determine the vehicle lane changing trajectory range according to the first and second lane changing trajectories.

[0116] In one embodiment, the communication module 540 is used to issue instruction instructions, including: the communication module 540 is used to issue control instructions to the driving assistance / automatic driving system and / or issue prompt information to the driver.

[0117] In one embodiment, the prompt information in the vehicle lane change control device 500 includes at least one of the following prompts: a visual prompt, an auditory prompt, and a tactile prompt.

[0118] In one embodiment, the vehicle lane change control device 500 also includes a driving assistance / automatic driving system module and a torque acquisition module. The driving assistance / automatic driving system module is used to control the vehicle to stop changing lanes and return to the original lane according to the control instruction; or, the torque acquisition module is used to obtain input torque and control the vehicle to stop changing lanes and return to the original lane according to the input torque.

[0119] <Vehicle Embodiment>

[0120] Figure 6 FIG. 6 is a schematic diagram of a vehicle according to an embodiment. In this embodiment, a vehicle 600 is provided. The vehicle 600 may be Figure 1 The vehicle 1000 shown in the figure may also be a vehicle of other structures, which is not limited here.

[0121] like Figure 6 As shown, the vehicle 600 may include, for example, Figure 5 The vehicle lane change control device 500 shown executes a vehicle lane change control method according to any method embodiment.

[0122] In another embodiment, the vehicle 600 may also include a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute a vehicle lane change control method according to any method embodiment under the control of the computer program.

[0123] Those skilled in the art should understand that the event determination module 510, the track range acquisition module 520, the prohibition marking confirmation module 530 and the communication module 540 can be implemented in various ways. For example, the event determination module and / or the track range acquisition module 520 and / or the prohibition marking confirmation module 530 and / or the communication module 540 can be implemented by configuring the processor with instructions. For example, the instructions can be stored in a ROM, and when the device is started, the instructions are read from the ROM into a programmable device to implement the event determination module 510 and / or the track range acquisition module 520 and / or the prohibition marking confirmation module 530 and / or the communication module 540. For example, the event determination module 510 and / or the track range acquisition module 520 and / or the prohibition marking confirmation module 530 and / or the communication module 540 can be solidified into a dedicated device (such as an ASIC). The event determination module 510 and / or the track range acquisition module 520 and / or the prohibition marking confirmation module 530 and / or the communication module 540 can be divided into independent units, or they can be combined together for implementation. The event determination module 510 and / or the trajectory range acquisition module 520 and / or the prohibition marking confirmation module 530 and / or the communication module 540 may be implemented by one of the various implementations described above, or may be implemented by a combination of two or more of the various implementations described above.

[0124] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0125] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the above. The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0126] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0127] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of the computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit may execute the computer-readable program instructions, thereby implementing various aspects of the present invention.

[0128] Various aspects of the present invention are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flowchart and / or block diagram and the combination of the boxes in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0129] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0130] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0131] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0132] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle lane change control method, characterized in that: include: Determining that a predetermined vehicle lane change event occurs; According to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model, obtaining the trajectory range of the vehicle lane change; Determining that the trajectory range of the vehicle changing lanes includes a prohibited marking in a road traffic marking; Issue instructions, Among them, the preset vehicle lane change trajectory range model is the following model: according to the model, the trajectory range of the vehicle lane change can be obtained using the real-time driving characteristics of the vehicle, and the preset vehicle lane change trajectory range model includes a model in which the vehicle position of the vehicle changes with time and the vehicle speed under the same vehicle steering angle or different vehicle steering angles.

2. The control method according to claim 1, characterized in that: The predetermined vehicle lane change tendency event includes at least one of the following events: The turning signal of the vehicle is triggered, the vehicle steering angle is greater than a predetermined threshold, and the vehicle steering speed is greater than a predetermined threshold.

3. The control method according to claim 1, wherein the real-time driving characteristics of the vehicle include: The vehicle's real-time driving direction, vehicle steering angle, vehicle geographic location and vehicle speed.

4. The control method according to claim 1, characterized in that: Determining that the trajectory range of the vehicle changing lanes includes the prohibition markings in the road traffic markings includes: Setting the trajectory range of the vehicle's lane change to a location system of the vehicle that currently contains map data; It is determined that at least a portion of the prohibition markings in the road traffic markings is within the trajectory range of the vehicle lane change set in the position system containing the map data.

5. The control method according to claim 1, characterized in that: In the case where the preset vehicle lane change trajectory range model includes a model of the vehicle position of the vehicle changing with time and vehicle speed at the same vehicle steering angle, According to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model, obtaining the lane change trajectory range of the vehicle includes: According to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model, a first lane change trajectory with a maximum curvature and a second lane change trajectory with a minimum curvature are obtained; The vehicle lane change trajectory range is determined according to the first lane change trajectory and the second lane change trajectory.

6. The control method according to claim 1, characterized in that: The issuing of the instruction comprises: Issue control instructions to the driving assistance / automatic driving system and / or issue prompt information to the driver.

7. The control method according to claim 6, characterized in that: The prompt information includes at least one of the following prompts: Visual cues, auditory cues, and tactile cues.

8. The control method according to claim 6, characterized in that: Also includes: The driving assistance / automatic driving system controls the vehicle to stop changing lanes according to the control instruction to return to the original lane; or, Get the input torque, and The vehicle is controlled to stop changing lanes and return to the original lane according to the input torque.

9. A vehicle lane change control device, characterized in that: include: An event determination module, used to determine the occurrence of a predetermined vehicle lane change tendency event; A trajectory range acquisition module, used to acquire the trajectory range of the lane change of the vehicle according to the real-time driving characteristics of the vehicle and a preset vehicle lane change trajectory range model; A prohibited marking confirmation module, used to determine that the trajectory range of the vehicle changing lanes includes prohibited markings in road traffic markings; Communication module, used to issue instructions, Among them, the preset vehicle lane change trajectory range model is the following model: according to the model, the trajectory range of the vehicle lane change can be obtained using the real-time driving characteristics of the vehicle, and the preset vehicle lane change trajectory range model includes a model in which the vehicle position of the vehicle changes with time and the vehicle speed under the same vehicle steering angle or different vehicle steering angles.

10. A vehicle, characterized in that: The vehicle lane changing control device comprises the vehicle lane changing control device according to claim 9, or comprises a memory and a processor, wherein the memory stores computer instructions, and the computer instructions are executed by the processor to implement the vehicle lane changing control method according to any one of claims 1 to 8.

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