Vehicle, automatic lane change control method of vehicle and related equipment

Abstract

The embodiments of the present application disclose a vehicle, an automatic lane changing control method for the vehicle, and related equipment. The control method provided by the embodiments of the present application first determines the current lane congestion state based on the current actual speed. When the congestion state is a state that requires lane changing, the front road condition and / or rear road condition of the lane adjacent to the vehicle's current driving lane are collected, and further based on at least one of the front road condition and the rear road condition, it can be determined whether lane change can be performed. When the lane change adjustment is met, the vehicle can be controlled to change lanes. Such an arrangement can enable the vehicle to automatically change to a lane with smoother traffic during the vehicle's travel, especially during the vehicle's automatic cruising, which can reduce the time required for the journey, and can perform active lane changes without human intervention, and combine the surrounding road conditions to meet the speed set by the owner to avoid congestion.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle technology, and in particular, to an automatic lane change control method for a vehicle, a control device, a computer-readable storage medium, and a vehicle. Background Art

[0002] Through driving assistance (ADAS, Advanced Driving Assistance System), the vehicle can drive according to the navigation route, but the current technology's automatic cruise control can only drive in a single lane. When there is a problem or congestion in the lane, it cannot actively change lanes, affecting the user experience. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present invention provides an automatic lane change control method for a vehicle.

[0005] A second aspect of the present invention provides a control device.

[0006] A third aspect of the present invention provides a computer-readable storage medium.

[0007] A fourth aspect of the present invention provides a vehicle.

[0008] In view of this, according to a first aspect of an embodiment of the present application, a method for controlling automatic lane change of a vehicle is proposed, comprising:

[0009] Determine the congestion status of the current lane based on the set travel speed and the actual travel speed of the vehicle;

[0010] When the congestion state is a lane change state, obtaining front road condition information and / or rear road condition information of a lane adjacent to the vehicle;

[0011] When the front road condition information or the rear road condition information satisfies a lane change condition, the vehicle is controlled to change lanes.

[0012] In a feasible implementation manner, the step of determining the congestion state of the current lane based on the set traveling speed and the actual traveling speed of the vehicle includes:

[0013] When the ratio of the actual traveling speed to the set traveling speed is less than or equal to a first threshold, determining that the congestion state is a state requiring lane change;

[0014] When the ratio of the actual travel speed to the set travel speed is greater than a first threshold, determining that the congestion state is a state where lane change is not required;

[0015] Wherein, the set travel speed is set based on the automatic cruise instruction or determined based on the travel rules of the current lane;

[0016] Among them, the value of the first threshold is less than or equal to 92%.

[0017] In a feasible implementation manner, the step of acquiring the front road condition information and / or the rear road condition information of the lane adjacent to the vehicle includes:

[0018] Collecting front image information of a lane adjacent to the vehicle;

[0019] Parsing the front image information to obtain the model size in the front image information;

[0020] When the ratio of the model size to the actual size is less than a second threshold, determining that the road condition information ahead is in a changeable lane state;

[0021] When the ratio of the model size to the actual size is greater than a second threshold, determining that the road condition information ahead is in an unchangeable lane state;

[0022] When the road condition information ahead indicates that the lane cannot be changed, counting the number of overtaking vehicles passing through the lane adjacent to the vehicle within a unit time;

[0023] When the overtaking quantity information is greater than or equal to a third threshold, it is determined that the rear road condition information is in a variable lane state.

[0024] In a feasible implementation manner, when the front road condition information or the rear road condition information satisfies the lane change condition, the step of controlling the vehicle to change lanes includes:

[0025] When the front road condition information or the rear road condition information satisfies a lane change condition, determining the number of lanes that can be changed;

[0026] When the number of the changeable lanes is greater than 1, collecting a first distance between a front vehicle and the vehicle in each of the changeable lanes;

[0027] The changeable lane corresponding to the largest first distance is used as a target change lane, and the vehicle is controlled to change lanes to the target change lane.

[0028] In a feasible implementation manner, the step of controlling the vehicle to change lanes includes:

[0029] Obtaining a second distance between a rear vehicle and a vehicle in a variable lane;

[0030] When the second distance is greater than a fourth threshold, controlling the vehicle to change lanes;

[0031] The fourth threshold is determined based on the length of the vehicle and the current travel speed of the vehicle.

[0032] In a feasible implementation manner, when the second distance is greater than a fourth threshold, the step of controlling the vehicle to change lanes includes:

[0033] When the second distance is greater than a fourth threshold, collecting the second distance information within a first time period;

[0034] If the second distance does not decrease within a first time period, controlling the vehicle to change lanes;

[0035] If the second distance decreases within the first time period, stopping lane changing;

[0036] The value of the first duration is greater than or equal to 3s.

[0037] In a feasible implementation manner, the step of controlling the vehicle to change lanes includes:

[0038] After turning on the turn signal for a second time period, controlling the vehicle to change lanes, and turning off the turn signal after a third time period after the lane change, and returning the steering wheel of the vehicle to the center position;

[0039] The value of the second duration is greater than or equal to 3 seconds, and the value of the third duration is greater than or equal to 2 seconds.

[0040] According to the second aspect of an embodiment of the present application, a control device is proposed, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is used to implement the automatic lane change control method for a vehicle as described in any of the above technical solutions when executing the computer program stored in the memory.

[0041] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is proposed, on which a computer program is stored. When the computer program is executed by a processor, the automatic lane change control method for a vehicle as described in any of the above technical solutions is implemented.

[0042] According to a fourth aspect of an embodiment of the present application, a vehicle is provided, comprising:

[0043] Vehicle body;

[0044] A control device as described in the above technical solution;

[0045] A front collection device is arranged at one end of the vehicle body;

[0046] A rear collection device is arranged at the other end of the vehicle body;

[0047] Wherein, the control device is connected to the vehicle body, the front collection device and the rear collection device, and the control device obtains the front road condition information through the front collection device and obtains the rear road condition information through the rear collection device.

[0048] Compared with the prior art, the present invention includes at least the following beneficial effects: the control method provided in the embodiment of the present application first determines the current lane congestion state based on the current actual speed. When the congestion state requires lane change, the front road condition and / or rear road condition of the lane adjacent to the vehicle's current lane are collected, and further based on at least one of the front road condition and the rear road condition, it can be determined whether lane change can be performed. When the lane change adjustment is met, the vehicle can be controlled to change lanes. Such an arrangement can enable the vehicle to automatically change to a lane with smoother traffic during the vehicle's travel, especially during automatic cruising, which can reduce the time required for the journey, and can perform active lane changes without human intervention, and combine the surrounding road conditions to meet the speed set by the owner to avoid congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0050] Figure 1 A schematic flowchart of a method for controlling an automatic lane change of a vehicle according to an embodiment of the present application;

[0051] Figure 2 A structural block diagram of a control device according to an embodiment of the present application;

[0052] Figure 3 A structural block diagram of a computer-readable storage medium according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to better understand the above-mentioned technical scheme, the technical scheme of the embodiments of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0054] like Figure 1As shown, according to a first aspect of an embodiment of the present application, a vehicle automatic lane change control method is proposed, comprising:

[0055] Step 101: Determine the congestion state of the current lane based on the set speed and the actual speed of the vehicle. It is understandable that the set speed is set by the user when performing automatic cruising, and the set speed represents the expected speed. By comparing the set speed with the actual speed, if the difference between the two is large, it means that the current lane is in a state of severe congestion, and the congestion state may be a state of needing to change lanes. If the difference between the set speed and the actual speed of the vehicle is small, it means that the lane where the vehicle is currently located is relatively unobstructed, and in this case, the congestion state is a state of not needing to change lanes.

[0056] Step 102: When the congestion state is a lane change state, obtain the front road condition information and / or rear road condition information of the lane adjacent to the vehicle. When the congestion state is a lane change state, it means that the vehicle is traveling slowly in the current lane. In this case, the front road condition information and / or rear road condition information of the lane adjacent to the vehicle can be identified, and the state of the lane adjacent to the current lane can be judged to determine whether the lane change can be performed.

[0057] Step 103: When the front road condition information or the rear road condition information meets the lane change condition, the vehicle is controlled to change lanes. When the current lane of the vehicle meets the lane change condition, the vehicle can be controlled to change lanes so that the vehicle can travel on a smoother lane.

[0058] The control method provided in the embodiment of the present application first determines the current lane congestion state based on the current actual speed. When the congestion state requires lane change, the front road condition and / or rear road condition of the lane adjacent to the vehicle's current lane are collected, and further based on at least one of the front road condition and the rear road condition, it can be determined whether lane change can be performed. When the lane change adjustment is met, the vehicle can be controlled to change lanes. Such an arrangement can enable the vehicle to automatically change to a lane with smoother traffic during vehicle travel, especially during automatic cruising, which can reduce the time required for the journey, and can perform active lane changes without human intervention, and can be combined with surrounding road conditions to meet the speed set by the owner to avoid congestion.

[0059] In some examples, based on the set travel speed and actual travel speed of the vehicle, the step of determining the congestion state of the current lane includes: when the ratio of the actual travel speed to the set travel speed is less than or equal to a first threshold, determining that the congestion state is a state requiring lane change; when the ratio of the actual travel speed to the set travel speed is greater than the first threshold, determining that the congestion state is a state that does not require lane change; wherein the set travel speed is set based on the automatic cruise instruction or determined based on the travel rules of the current lane; wherein the value of the first threshold is less than or equal to 92%.

[0060] In this technical solution, a method for determining the congestion state of the current lane based on the set speed and actual speed of the vehicle is further determined. Considering that the value difference of the set speed may be large, the congestion state can be determined by determining the ratio between the two, so that the determination of the congestion state is more accurate; when the ratio between the two is less than the first threshold, it means that the deviation between the set speed and the actual speed of the current vehicle is large. In this case, it means that the current lane is relatively congested, the vehicle speed is significantly different from the user's expected demand, and the current congestion state is a state where lane change is required. When the ratio between the two is greater than the first threshold, it means that the vehicle is driving smoothly. In this case, the vehicle does not need to change lanes, and the congestion state is a state where lane change is not required.

[0061] In this technical solution, the set travel speed is set based on the automatic cruise instruction or determined based on the travel rules of the current lane, that is, the set travel speed can be set by the user, and when there is a difference between the speed set by the user and the traffic rules, the set travel speed should be determined based on the travel rules of the current lane, that is, the traffic rules.

[0062] In this technical solution, the value of the first threshold can be less than or equal to 92%, that is, when the ratio of the set travel speed to the actual travel speed is less than or equal to 92%, it is considered that the deviation between the set travel speed and the actual travel speed of the current vehicle is large. In this case, it means that the current lane is congested, the vehicle travel speed is significantly different from the user's expected demand, and the current congestion state requires changing lanes.

[0063] In some examples, the step of obtaining the front road condition information and / or rear road condition information of the lane adjacent to the vehicle includes: collecting the front image information of the lane adjacent to the vehicle; parsing the front image information and obtaining the model size in the front image information; when the ratio of the model size to the actual size is less than a second threshold, judging that the front road condition information is in a variable lane state; when the ratio of the model size to the actual size is greater than the second threshold, judging that the front road condition information is in an unchangeable lane state; when the front road condition information is in an unchangeable lane state, counting the number of overtaking vehicles passing through the lane adjacent to the vehicle per unit time; when the number of overtaking vehicles is greater than or equal to a third threshold, judging that the rear road condition information is in a variable lane state.

[0064] In this technical solution, when it is determined that the current lane is congested and it is necessary to change lanes, the front image information of the lane adjacent to the current lane of the vehicle can be preferentially collected, and the model size in the image information can be further parsed. Based on the size of the model, the distance between the front vehicle or pedestrian in the adjacent lane and the vehicle can be determined. If the distance between the two is large, then the lane can be changed. Otherwise, it means that based on the front road condition information, it can be shown that the front vehicle is close, and the front road condition information surface is in an unchangeable lane state. In this case, it is impossible to clearly determine the smoothness of the lane adjacent to the current lane, and it can only be explained that it is impossible to clearly determine whether the lane can be changed. In this case, the rear road condition information can be collected. The specific collected information includes the number of overtaking through the lane adjacent to the vehicle in unit time, that is, the number of vehicles exceeding the vehicle in the adjacent lane is counted. If the number of overtaking is greater than or equal to the third threshold, it can also be considered that the lane adjacent to the current lane is more frequently open. In this case, the adjacent lane can be determined to be in a changeable lane state through the rear road condition information.

[0065] It can be understood that through the technical solution provided by the embodiment of the present application, the present application first determines whether a lane change is possible based on the traffic condition information ahead of the lane adjacent to the current lane. If the road ahead is relatively unobstructed, the current congestion state is determined to be a state in which lane change is required. If the judgment result of the traffic condition information ahead is that the traffic condition information ahead is a state in which lane change is not possible, this may be because the vehicle in the lane ahead adjacent to the current lane is relatively close to the current lane. In this case, the identification of the congestion state may not be accurate. In this case, the present application then obtains the traffic condition information behind, that is, obtains the number of overtaking in unit time. If the number of overtaking is large, this can also indicate that the lane adjacent to the current lane is also relatively unobstructed and lane change can be performed. Based on this, the present application first obtains the road condition information ahead. If a judgment that a lane change can be made based on the road condition information ahead, there is no need to obtain the road condition information behind. Otherwise, the road condition information behind will be further obtained. This setting takes into account the need for the vehicle to move forward when changing lanes, and there are usually more sensors set in front of the vehicle. The vehicle itself will not cover the detection area of ​​multiple sensors or image acquisition devices. Therefore, the collection of the road condition information ahead will be more accurate and convenient. At the same time, the present application also takes into account that the judgment of the congestion state only by the road condition information ahead may not be accurate. Therefore, when the judgment result of the road condition information ahead indicates that the lane change is not allowed, the congestion state is determined by the lane change information behind, which can greatly improve the judgment accuracy of the congestion state.

[0066] In this technical solution, the value of the second threshold can be 0.2 to 0.4, preferably 0.3. When the ratio of the model size to the actual size in the acquired image information is less than 0.3, it can be considered that the obstacle ahead is far away from the vehicle. In this case, it can be explained that the road condition information ahead is in a variable lane state; a larger ratio indicates that the obstacle ahead is close to the vehicle.

[0067] In this technical solution, the unit time length can be 5s to 12s, the value of the third threshold is greater than or equal to 2, and the preferred unit time length is 10s. This setting can count the number of overtaking within 10s. If the number of overtaking is greater than or equal to 2, it is considered that the lane adjacent to the vehicle is relatively unobstructed.

[0068] In some examples, when the road condition information ahead or the road condition information behind meets the lane changing condition, the step of controlling the vehicle to change lanes includes: determining the number of changeable lanes when the road condition information ahead or the road condition information behind meets the lane changing condition; when the number of changeable lanes is greater than 1, collecting the first distance between the vehicle ahead and the vehicle in each changeable lane; taking the changeable lane corresponding to the one with the largest first distance as the target change lane, and controlling the vehicle to change lanes to the target change lane.

[0069] When the road condition information ahead or behind meets the lane changing conditions, the number of lanes that can be changed can be determined. For example, when the vehicle is in the middle lane, both lanes adjacent to the vehicle may be able to change lanes, or only one lane may be able to change lanes. If both passenger lanes can be changed at the same time, the distance between the vehicle in front and the vehicle can be identified, and the lane farther from the vehicle in front can be used as the target lane for change. The vehicle can be controlled to change lanes to the target lane, making lane changes safer.

[0070] In some examples, the step of controlling a vehicle to change lanes includes: obtaining a second distance between a rear vehicle and the vehicle in a variable lane; and controlling the vehicle to change lanes when the second distance is greater than a fourth threshold; wherein the fourth threshold is determined based on the length of the vehicle and the current speed of the vehicle.

[0071] In this technical solution, while controlling the vehicle to change lanes, the second distance between the current vehicle and the vehicle behind is also collected. If the second distance is greater than the fourth threshold, it means that the distance between the vehicle behind and this vehicle is large. In this case, the vehicle can be controlled to change lanes. Otherwise, it means that the distance between the vehicle behind and this vehicle is close. In this case, the lane change should be stopped.

[0072] The fourth threshold is determined based on the length of the vehicle and the current speed of the vehicle. It can be understood that the value of the fourth threshold is positively correlated with the length of the vehicle, negatively correlated with the current speed of the vehicle, or positively correlated with the speed of the rear vehicle.

[0073] In some examples, the speed of the vehicle can also be obtained, and the speed of the vehicle coming from behind can be obtained at the same time. If the speed of the vehicle is greater than the speed of the vehicle behind, the fourth threshold is negatively correlated with the difference between the current speed of the vehicle and the speed of the vehicle behind; if the speed of the vehicle is less than the speed of the vehicle behind, the fourth threshold is positively correlated with the difference between the current speed of the vehicle and the speed of the vehicle behind.

[0074] In some examples, when the second distance is greater than a fourth threshold, the step of controlling the vehicle to change lanes includes: when the second distance is greater than the fourth threshold, collecting second distance information within a first time length; when the second distance does not decrease within the first time length, controlling the vehicle to change lanes; when the second distance decreases within the first time length, stopping lane changing; the value of the first time length is greater than or equal to 3s.

[0075] In this technical solution, during the process of controlling the vehicle to change lanes, the second distance can also be continuously extracted. If the second distance does not decrease within the first time period, it means that the rear vehicle has not accelerated during this period. In this case, the vehicle can be controlled to change lanes. If the second distance decreases, it means that the rear vehicle may accelerate. In this case, the lane change is stopped, making the lane change control safer.

[0076] In some examples, the step of controlling the vehicle to change lanes includes: after turning on the turn signal for a second time period, controlling the vehicle to change lanes, and turning off the turn signal after a third time period after the lane change, and returning the steering wheel of the vehicle to the center; wherein the second time period is greater than or equal to 3 seconds, and the third time period is greater than or equal to 2 seconds.

[0077] In this technical solution, the turn signal can be controlled to turn on during the vehicle's lane change process to prompt other vehicles that the vehicle will change lanes. After the lane change, the vehicle's steering wheel can be controlled to return to the center position to facilitate the vehicle's smooth movement in the lane after the lane change.

[0078] like Figure 2 As shown, according to the second aspect of an embodiment of the present application, a control device is proposed, comprising: a memory 201, a processor 202, and a computer program stored in the memory 201 and executable on the processor 202, wherein the processor is used to implement an automatic lane changing control method for a vehicle as in any of the above-mentioned technical solutions when executing the computer program stored in the memory 201.

[0079] The control device provided in the embodiment of the present application first determines the current lane congestion state based on the current actual speed. When the congestion state requires lane change, the front road condition and / or rear road condition of the lane adjacent to the vehicle's current lane are collected, and further based on at least one of the front road condition and the rear road condition, it can be determined whether lane change is possible. When the lane change adjustment is met, the vehicle can be controlled to change lanes. Such an arrangement can enable the vehicle to automatically change to a lane with smoother traffic during vehicle travel, especially during automatic cruising, which can reduce the time required for the journey, and can perform active lane changes without human intervention, and can meet the speed set by the owner in combination with surrounding road conditions to avoid congestion.

[0080] It can be understood that the set travel speed is set by the user when performing automatic cruising. The set travel speed represents the expected travel speed. By comparing the set travel speed with the actual travel speed, if the difference between the two is large, it means that the current lane is in a state of severe congestion, and the congestion state may be a state where lane change is required. If the difference between the set speed and the actual travel speed of the vehicle is small, it means that the lane where the vehicle is currently located is relatively unobstructed. In this case, the congestion state is a state where no lane change is required.

[0081] It can be understood that when the congestion state is a state where lane change is required, it means that the vehicle is traveling slowly in the current lane. In this case, the front road condition information and / or rear road condition information of the lane adjacent to the vehicle can be identified, and the state of the lane adjacent to the current lane can be judged to determine whether lane change can be performed.

[0082] It can be understood that when the vehicle's current lane meets the lane change conditions, the vehicle can be controlled to change lanes so that the vehicle can travel on a smoother lane.

[0083] In some examples, the control device may also include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), etc.

[0084] In an exemplary embodiment, the control device may further include an input / output interface and a display device, wherein each functional unit may communicate with each other via a bus. The memory stores a computer program, and the processor is used to execute the program stored in the memory and execute the method in the above embodiment.

[0085] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device of the method, and supports the operation of the information processing program and other software and / or programs. The network communication module is used to realize the communication between the components inside the storage medium, and the communication with other hardware and software in the information processing physical device.

[0086] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or by hardware.

[0087] like Figure 3 As shown, according to the third aspect of an embodiment of the present application, a computer-readable storage medium 301 is proposed, on which a computer program 302 is stored. When the computer program 302 is executed by a processor, an automatic lane changing control method for a vehicle as described in any of the above technical solutions is implemented.

[0088] The computer-readable storage medium 301 provided in the embodiment of the present application first determines the current lane congestion state based on the current actual speed. When the congestion state requires lane change, the front road condition and / or rear road condition of the lane adjacent to the vehicle's current lane are collected, and further based on at least one of the front road condition and the rear road condition, it can be determined whether lane change can be performed. When the lane change adjustment is met, the vehicle can be controlled to change lanes. Such a setting can enable the vehicle to automatically change to a lane with smoother traffic during the vehicle's travel, especially during the vehicle's automatic cruising, which can reduce the time required for the journey, and can perform active lane changes without human intervention, and can be combined with surrounding road conditions to meet the speed set by the owner to avoid congestion.

[0089] It can be understood that the set travel speed is set by the user when performing automatic cruising. The set travel speed represents the expected travel speed. By comparing the set travel speed with the actual travel speed, if the difference between the two is large, it means that the current lane is in a state of severe congestion, and the congestion state may be a state where lane change is required. If the difference between the set speed and the actual travel speed of the vehicle is small, it means that the lane where the vehicle is currently located is relatively unobstructed. In this case, the congestion state is a state where no lane change is required.

[0090] It can be understood that when the congestion state is a state where lane change is required, it means that the vehicle is traveling slowly in the current lane. In this case, the front road condition information and / or rear road condition information of the lane adjacent to the vehicle can be identified, and the state of the lane adjacent to the current lane can be judged to determine whether lane change can be performed.

[0091] It can be understood that when the vehicle's current lane meets the lane change conditions, the vehicle can be controlled to change lanes so that the vehicle can travel on a smoother lane.

[0092] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0093] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0095] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device is caused to execute the following Figure 1 The process in the application protection method in the corresponding embodiment.

[0096] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0097] According to the fourth aspect of an embodiment of the present application, a vehicle is proposed, comprising: a vehicle body; a control device as in the above technical solution; a front collection device, arranged at one end of the vehicle body; and a rear collection device, arranged at the other end of the vehicle body; wherein the control device is connected to the vehicle body, the front collection device and the rear collection device, and the control device obtains the front road condition information through the front collection device, and obtains the rear road condition information through the rear collection device.

[0098] Since the vehicle provided in the embodiment of the present application includes the control device of the above technical solution, all the beneficial effects of the control device of the above technical solution will not be elaborated here.

[0099] It is understandable that in the embodiment of the present application, the front road condition information and the rear road condition information can be collected by arranging a front collection device and a rear collection device on the vehicle. The front collection device includes but is not limited to a camera, a radar and a displacement sensor, and the rear collection device includes but is not limited to a camera, a radar and a displacement sensor.

[0100] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0101] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0102] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0103] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling automatic lane change of a vehicle, characterized in that: include: Determine the congestion status of the current lane based on the set travel speed and the actual travel speed of the vehicle; When the congestion state is a lane change state, obtaining front road condition information and / or rear road condition information of a lane adjacent to the vehicle; When the front road condition information or the rear road condition information satisfies a lane change condition, controlling the vehicle to change lanes; The step of acquiring the front road condition information and / or the rear road condition information of the lane adjacent to the vehicle comprises: Collecting front image information of a lane adjacent to the vehicle; Parsing the front image information to obtain the model size in the front image information; When the ratio of the model size to the actual size is less than a second threshold, determining that the road condition information ahead is in a changeable lane state; When the ratio of the model size to the actual size is greater than a second threshold, determining that the road condition information ahead is in an unchangeable lane state; When the road condition information ahead indicates that the lane cannot be changed, counting the number of overtaking vehicles passing through the lane adjacent to the vehicle within a unit time; When the overtaking quantity information is greater than or equal to a third threshold, it is determined that the rear road condition information is in a variable lane state.

2. The automatic lane change control method for a vehicle according to claim 1, characterized in that: The step of determining the congestion state of the current lane based on the set traveling speed and the actual traveling speed of the vehicle comprises: When the ratio of the actual traveling speed to the set traveling speed is less than or equal to a first threshold, determining that the congestion state is a state requiring lane change; When the ratio of the actual travel speed to the set travel speed is greater than a first threshold, determining that the congestion state is a state where lane change is not required; Wherein, the set travel speed is set based on the automatic cruise instruction or determined based on the travel rules of the current lane; Among them, the value of the first threshold is less than or equal to 92%.

3. The automatic lane change control method for a vehicle according to claim 1, characterized in that: When the front road condition information or the rear road condition information satisfies the lane change condition, the step of controlling the vehicle to change lanes comprises: When the front road condition information or the rear road condition information satisfies a lane change condition, determining the number of lanes that can be changed; When the number of the changeable lanes is greater than 1, collecting a first distance between a front vehicle and the vehicle in each of the changeable lanes; The changeable lane corresponding to the largest first distance is used as a target change lane, and the vehicle is controlled to change lanes to the target change lane.

4. The automatic lane change control method for a vehicle according to claim 1, characterized in that: The step of controlling the vehicle to change lanes comprises: Obtaining a second distance between a rear vehicle and a vehicle in a variable lane; When the second distance is greater than a fourth threshold, controlling the vehicle to change lanes; The fourth threshold is determined based on the length of the vehicle and the current travel speed of the vehicle.

5. The automatic lane change control method for a vehicle according to claim 4, characterized in that: When the second distance is greater than a fourth threshold, the step of controlling the vehicle to change lanes comprises: When the second distance is greater than a fourth threshold, collecting the second distance information within a first time period; If the second distance does not decrease within a first time period, controlling the vehicle to change lanes; If the second distance decreases within the first time period, stopping lane changing; The value of the first duration is greater than or equal to 3s.

6. The automatic lane change control method for a vehicle according to claim 4, characterized in that: The step of controlling the vehicle to change lanes comprises: After turning on the turn signal for a second time period, controlling the vehicle to change lanes, and turning off the turn signal after a third time period after the lane change, and returning the steering wheel of the vehicle to the center position; The value of the second duration is greater than or equal to 3 seconds, and the value of the third duration is greater than or equal to 2 seconds.

7. A control device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement an automatic lane change control method for a vehicle as claimed in any one of claims 1 to 6 when executing the computer program stored in the memory.

8. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the automatic lane changing control method for a vehicle as claimed in any one of claims 1 to 6 is implemented.

9. A vehicle, characterized in that: include: Vehicle body; The control device as claimed in claim 7; A front collection device is arranged at one end of the vehicle body; A rear collection device is arranged at the other end of the vehicle body; Wherein, the control device is connected to the vehicle body, the front collection device and the rear collection device, and the control device obtains the front road condition information through the front collection device and obtains the rear road condition information through the rear collection device.

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