Vehicle autonomous lane-changing method, device, equipment and storage medium

Abstract

The present application provides a vehicle autonomous lane-changing method, device, equipment and storage medium. By monitoring in real time a preset range corresponding to the driving lane and the adjacent lane of a target vehicle, and obtaining a dispatching instruction sent by a remote dispatching center; when it is detected that there is a first vehicle in the driving lane, according to the first recognition type and / or the motion state of the first vehicle, determine to start a lane-changing control program; when it is detected that there is a second vehicle in the adjacent lane, according to the second recognition type of the second vehicle and / or the relative position between the second vehicle and the target vehicle, determine to start a lane-changing control program or a distance-keeping control program without changing lanes; when the dispatching instruction includes an avoidance instruction, start the lane-changing control program to vacate the driving lane for a vehicle that needs to pass urgently. The technical problem of how to make a vehicle autonomously change lanes to meet the visual needs, driving needs of passengers, and the overall resource allocation needs of intelligent transportation is solved.

Description

Technical Field

[0001] This application relates to the field of intelligent electronic products, and particularly to a vehicle autonomous lane-changing method, device, equipment, and storage medium. Background Art

[0002] With the continuous development of automotive technology, intelligent driving has become the mainstream direction of automotive technology development.

[0003] Currently, the control of vehicle lane-changing in intelligent driving is all based on the vehicle in front pressing the speed, which affects the passive control taken when the vehicle is driving. However, in actual application scenarios, the lane-changing requirements of vehicles are very complex, and it cannot be simply controlled only from the perspective of the vehicle's own driving. It is also necessary to consider the visual and driving experience requirements of the passengers in the vehicle for the current driving environment, and also need to consider the issue of the allocation of the entire traffic resources, so that intelligent driving rises to the level of intelligent transportation.

[0004] Therefore, how to make the vehicle autonomously change lanes to meet the visual and driving experience requirements of passengers' comfort and safety, as well as the overall resource allocation requirements of intelligent transportation, has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] This application provides a vehicle autonomous lane-changing method, device, equipment, and storage medium to solve the technical problem of how to make the vehicle autonomously change lanes to meet the visual and driving experience requirements of passengers' comfort and safety, as well as the overall resource allocation requirements of intelligent transportation.

[0006] In a first aspect, this application provides a vehicle autonomous lane-changing method, including:

[0007] Real-time monitor the preset ranges corresponding to the driving lane and the adjacent lane of the target vehicle, and obtain the dispatching instructions sent by the remote dispatching center;

[0008] When detecting a first vehicle in the driving lane, determine to start the lane-changing control program according to the first identification type and / or motion state of the first vehicle;

[0009] When detecting a second vehicle in the adjacent lane, determine to start the lane-changing control program or the away control program without changing lanes according to the second identification type of the second vehicle and / or the relative position between the second vehicle and the target vehicle;

[0010] When the dispatching instruction includes an avoidance instruction, start the lane-changing control program to vacate the driving lane for the vehicle that needs to pass urgently.

[0011] In a possible design, determining to start the lane-changing control program according to the first identification type and / or motion state of the first vehicle includes:

[0012] When the first recognition type is a vehicle type that is likely to cause psychological anxiety to the occupants, the lane-changing control program is activated when the first vehicle is in any moving state, so that the target vehicle executes a lane change when there is a safe lane-changing space in the adjacent lane.

[0013] In a possible design, activating the lane-changing control program when the first vehicle is in any moving state includes:

[0014] When the first vehicle is in front of or behind the target vehicle, the lane-changing control program is activated regardless of whether the first vehicle continuously approaches the target vehicle within a preset time period.

[0015] Optionally, the vehicle types that are likely to cause psychological anxiety to the occupants include: luxury brand vehicles, trucks, hazardous material transport vehicles, special vehicles, and the characteristic vehicles include: fire trucks, ambulances, police cars, military vehicles.

[0016] In a possible design, determining whether to activate the lane-changing control program or the non-lane-changing distancing control program based on the second recognition type of the second vehicle and / or the relative position of the second vehicle to the target vehicle includes:

[0017] When the second recognition type is a vehicle type that is likely to cause psychological anxiety to the occupants, it is determined whether the second vehicle is within the parallel range of the target vehicle, and the parallel range is determined according to the body length of the target vehicle and a preset coefficient;

[0018] If so, it is determined whether there is a safe overtaking space in the forward direction of the target vehicle on the driving lane;

[0019] If there is a safe overtaking space, the distancing control program is used to control the target vehicle to overtake, so that the second vehicle gets out of the parallel range;

[0020] If there is no safe overtaking space, when there is no second vehicle of the second recognition type on the adjacent lane on the other side, the lane-changing control program is activated so that the target vehicle changes lanes to the adjacent lane on the other side.

[0021] In a possible design, when there is no safe overtaking space, it further includes:

[0022] When there is also a second vehicle of the second recognition type on the adjacent lane on the other side, it is determined whether there is a safe retreat space in the opposite direction of the forward direction of the target vehicle on the driving lane;

[0023] If so, the distancing control program is used to control the target vehicle to decelerate to distance itself from the second vehicles on both adjacent lanes.

[0024] In a possible design, after activating the lane-changing control program when there is no second vehicle of the second recognition type on the adjacent lane on the other side, it further includes:

[0025] After the target vehicle changes lanes, control the target vehicle to accelerate and overtake the second vehicle to reduce the anxiety of the passengers in the target vehicle.

[0026] In a second aspect, the present application provides a vehicle autonomous lane-changing device, including:

[0027] An acquisition module, configured to monitor in real time a preset range corresponding to the driving lane and the adjacent lane of the target vehicle, and acquire a scheduling instruction sent by a remote scheduling center;

[0028] A processing module, configured to:

[0029] When it is detected that there is a first vehicle in the driving lane, determine to start a lane-changing control program according to the first identification type and / or the motion state of the first vehicle;

[0030] When it is detected that there is a second vehicle in the adjacent lane, determine to start a lane-changing control program or a keep-away control program without changing lanes according to the second identification type of the second vehicle and / or the relative position between the second vehicle and the target vehicle;

[0031] When the scheduling instruction includes an avoidance instruction, start a lane-changing control program to vacate the driving lane for a vehicle that needs to pass urgently.

[0032] In a possible design, the processing module is configured to:

[0033] When the first identification type is a vehicle type that is likely to cause psychological anxiety to passengers, start a lane-changing control program in any motion state of the first vehicle, so that the target vehicle performs a lane change when there is a safe lane-changing space in the adjacent lane.

[0034] In a possible design, the processing module is configured to:

[0035] When the first vehicle is in front of or behind the target vehicle, start a lane-changing control program regardless of whether the first vehicle continuously approaches the target vehicle within a preset time period.

[0036] Optionally, the vehicle types that are likely to cause psychological anxiety to passengers include: luxury brand vehicles, trucks, hazardous material transport vehicles, special vehicles, and the characteristic vehicles include: fire trucks, ambulances, police cars, military vehicles.

[0037] In a possible design, the processing module is configured to:

[0038] When the second identification type is a vehicle type that is likely to cause psychological anxiety to passengers, determine whether the second vehicle is within the parallel range of the target vehicle, and the parallel range is determined according to the body length of the target vehicle and a preset coefficient;

[0039] If so, determine whether there is a safe overtaking space on the driving lane in the forward direction of the target vehicle;

[0040] If there is a safe overtaking space, use the away control program to control the target vehicle to overtake, so that the second vehicle gets out of the parallel range;

[0041] If there is no safe overtaking space, when there is no second vehicle of the second recognition type on the adjacent lane on the other side, turn on the lane change control program so that the target vehicle changes lanes to the adjacent lane on the other side.

[0042] In a possible design, when there is no safe overtaking space, the processing module is further configured to:

[0043] When there is also a second vehicle of the second recognition type on the adjacent lane on the other side, determine whether there is a safe retreat space in the opposite direction of the forward direction of the target vehicle;

[0044] If so, use the away control program to control the target vehicle to decelerate, so as to move away from the second vehicles on the adjacent lanes on both sides.

[0045] In a possible design, the processing module is further configured to:

[0046] After the target vehicle changes lanes, control the target vehicle to speed up and overtake the second vehicle, so as to reduce the anxiety of the passengers in the target vehicle.

[0047] In a third aspect, the present application provides an electronic device, including:

[0048] A memory for storing program instructions;

[0049] A processor for calling and executing the program instructions in the memory to execute any one of the possible vehicle autonomous lane change methods provided in the first aspect.

[0050] In a fourth aspect, the present application provides a vehicle, including any one of the possible electronic devices provided in the third aspect, so as to implement any one of the possible vehicle autonomous lane change methods provided in the first aspect.

[0051] In a fifth aspect, the present application provides a storage medium, where a computer program is stored in the readable storage medium, and the computer program is used to execute any one of the possible vehicle autonomous lane change methods provided in the first aspect.

[0052] In a sixth aspect, the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements any one of the possible vehicle autonomous lane change system methods provided in the first aspect.

[0053] The present application provides a vehicle autonomous lane-changing method, device, equipment and storage medium. By monitoring in real time the preset ranges corresponding to the driving lane and the adjacent lane of the target vehicle and obtaining the scheduling instructions sent by the remote scheduling center; when it is detected that there is a first vehicle in the driving lane, determine to start the lane-changing control program according to the first identification type and / or the longitudinal relative position information of the first vehicle; when it is detected that there is a second vehicle in the adjacent lane, determine to start the lane-changing control program or the away control program of not changing lanes according to the second identification type of the second vehicle and / or the relative position between the second vehicle and the target vehicle; when the scheduling instruction includes an avoidance instruction, start the lane-changing control program to vacate the driving lane for the vehicle that needs to pass urgently. The technical problem of how to enable the vehicle to autonomously change lanes to meet the visual needs, driving needs of the occupants, and the overall resource allocation needs of intelligent transportation is solved. The technical effect of intelligent driving assistance that simultaneously meets the vehicle driving, the psychology of the passengers and the overall traffic resource allocation is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application and, together with the specification, are used to explain the principles of the present application.

[0055] Figure 1 It is a schematic diagram of the application scenario of a vehicle autonomous lane-changing method provided by the present application;

[0056] Figure 2 It is a schematic flowchart of a vehicle autonomous lane-changing method provided by an embodiment of the present application;

[0057] Figure 3 It is a schematic flowchart of another vehicle autonomous lane-changing method provided by an embodiment of the present application;

[0058] Figure 4 It is a schematic structural diagram of a vehicle autonomous lane-changing device provided by an embodiment of the present application;

[0059] Figure 5 It is a schematic structural diagram of an electronic device provided by the present application.

[0060] Through the above-mentioned accompanying drawings, the specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and the textual descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0061] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts, including but not limited to combinations of multiple embodiments, fall within the scope of protection of this application.

[0062] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and above-mentioned drawings of this application are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order different from those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0063] Existing intelligent driving assistance has been able to achieve automatic lane change. However, the timing of automatic lane change is a difficult problem that plagues the R & D personnel of intelligent driving. The general approach is to execute lane change control only when the vehicle in front slows down and interferes with the driving of the vehicle itself. Obviously, the prior art simplifies and mechanizes the handling of driving scenarios too much, resulting in a relatively poor "intelligence" of automatic lane change in the eyes of users, giving people a feeling of inflexibility and stupidity.

[0064] To solve the above technical problems, the inventive concept of this application is:

[0065] Add two aspects of trigger conditions for automatic lane change: one is to trigger lane change according to the psychology of the occupants. For example, when the vehicle encounters large trucks, lorries and other vehicles during driving, although they do not impede the driving of the vehicle itself, it is still necessary to trigger lane change or even overtake to avoid psychological anxiety or lack of security of the occupants; the other is to combine the overall traffic resource allocation plan of intelligent transportation. When the vehicle itself does not detect a lane change requirement, in order to allow other vehicles with special needs to pass in time, the vehicle itself is made to execute automatic lane change and avoidance through remote scheduling. By setting up these two aspects of trigger conditions, automatic lane change becomes more intelligent, improving the automatic performance level of intelligent driving assistance and the user experience.

[0066] Figure 1The figure is a schematic diagram of the application scenario of a vehicle autonomous lane-changing method provided by this application. As Figure 1 shown, on the driving lane where the target vehicle 100 is located, there are vehicles both in front of and behind the target vehicle 100, and there are also vehicles on the adjacent lanes on both the left and right sides of the target vehicle 100. At this time, if the vehicle in front of the target vehicle 100 does not slow down, the prior art will not trigger a lane change at this time. However, as Figure 1 shown, at this time, there are large trucks in all three directions of the target vehicle, which may bring a sense of psychological oppression or psychological anxiety to the driver or passengers in the target vehicle. To avoid such situations, the vehicle autonomous lane-changing method of this application can trigger the target vehicle 100 to change lanes in the direction shown by the dotted arrow.

[0067] Next, the specific process of the vehicle autonomous lane-changing method provided by this application will be specifically explained.

[0068] Figure 2 The figure is a schematic diagram of the process of a vehicle autonomous lane-changing method provided by an embodiment of this application. As Figure 2 shown, the specific steps of this vehicle autonomous lane-changing method include:

[0069] S201. Real-time monitor the preset ranges corresponding to the driving lane and adjacent lanes of the target vehicle, and obtain the dispatching instructions sent by the remote dispatching center.

[0070] In this step, various types of sensors installed around the target vehicle, including: electromagnetic wave radar, lidar, millimeter wave radar, and camera, are used to real-time monitor the current driving lane of the target vehicle, that is, the driving lane and the adjacent lanes. The so-called preset range is the monitoring range of the sensor, and the area can be divided according to the monitoring ranges of different sensors.

[0071] It should be noted that there are two situations for adjacent lanes. One is that there is a lane that can drive in the same direction only on one side of the target vehicle, such as the left or right side. The other is that there are lanes that can drive in the same direction on both sides of the target vehicle. In particular, for a relatively narrow section, such as a situation where there is only one lane in the same direction, the adjacent lane is a oncoming lane, and it will only be involved when the target vehicle changes lanes and overtakes.

[0072] Therefore, in a possible design, it is necessary to combine the high-precision map to judge the lane type of the current driving section of the target vehicle to identify whether the adjacent lane is an oncoming lane. At this time, the lane-changing strategy will change.

[0073] For the convenience of understanding, this application assumes that the adjacent lanes are all lanes that can drive in the same direction. That is, the oncoming lane can be temporarily regarded as a lane that drives in the same direction when overtaking.

[0074] S202. When a first vehicle is detected in the driving lane, determine to activate the lane-changing control program according to the first recognition type and / or the motion state of the first vehicle.

[0075] In this step, when the first recognition type is a vehicle type that is likely to cause psychological anxiety to the occupants, the lane-changing control program is activated regardless of the motion state of the first vehicle, so that the target vehicle executes a lane change when there is a safe lane-changing space in the adjacent lane. Optionally, the vehicle types that are likely to cause psychological anxiety to the occupants include: luxury brand vehicles, trucks, hazardous material transport vehicles, special vehicles, and the characteristic vehicles include: fire trucks, ambulances, police cars, military vehicles.

[0076] In this embodiment, activating the lane-changing control program regardless of the motion state of the first vehicle includes:

[0077] When the first vehicle is in front of or behind the target vehicle, the lane-changing control program is activated regardless of whether the first vehicle continuously approaches the target vehicle within a preset time period.

[0078] Specifically, there are two cases of the first vehicle traveling in the same driving lane as the target vehicle. One is the vehicle traveling in front of the target vehicle, and the other is the vehicle traveling behind the target vehicle. And the motion state of the first vehicle can be divided into three cases: the first is that the relative speed with the target vehicle is zero, the second is approaching the target vehicle, and the third is moving away from the target vehicle.

[0079] In this embodiment, regardless of the motion state of the first vehicle, as long as the type of the first vehicle is a vehicle that is likely to cause psychological anxiety (including a sense of insecurity or discomfort) to the occupants (including the driver) of the target vehicle, the lane-changing control program is activated, so that the target vehicle changes lanes to the adjacent lane opportunistically.

[0080] For example, most drivers will have psychological anxiety-type reactions such as tension and fear when following a freight truck. This is because the freight truck is large in size, resulting in many blind spots during driving, which will block the line of sight of the following vehicle. And because the freight truck itself has a large mass and an even larger mass after carrying goods, its traveling speed is slow, and there is also a risk that the goods on the truck will fall and pose a safety hazard to the following vehicle. However, in the existing intelligent driving technology, generally, when the vehicle in front or behind does not interfere with the driving of the vehicle itself, it will not actively change lanes. Although this does not affect the normal driving of the vehicle, it gives a bad feeling to the user, resulting in a poor user experience, and will cause the user to switch from intelligent driving to manual driving. Therefore, this application improves the triggering condition for lane changes. As long as a first vehicle such as a freight truck, a hazardous material transport vehicle, a fire truck, or a military vehicle that is likely to cause psychological anxiety to the occupants of the target vehicle appears in front of or behind the target vehicle, the vehicle will automatically change lanes.

[0081] When the target vehicle is driving on a highway and encounters a convoy performing a special task, this lane-changing trigger mechanism enables the target vehicle to autonomously and quickly give way to the lane, allowing the convoy performing the special task to pass through in a timely manner, so as to prevent the driving of the target vehicle from interfering with the execution of the special task.

[0082] S203. When a second vehicle is detected in the adjacent lane, determine whether to activate the lane-changing control program or the non-lane-changing away control program according to the second identification type of the second vehicle and / or the relative position between the second vehicle and the target vehicle.

[0083] In this step, when the second identification type is a vehicle type that is likely to cause psychological anxiety to the occupants, first determine whether the second vehicle is within the parallel range of the target vehicle. The so-called parallel range is determined according to the body length of the target vehicle and a preset coefficient. For example, the parallel range is k times the body length of the target vehicle, where k is a preset coefficient and k is greater than or equal to 1.

[0084] At this time, if the second vehicle is a freight truck and the target vehicle is a passenger car, then the body length of the second vehicle will be greater than that of the target vehicle. For the sake of easy understanding, assume that the parallel range is equal to the body length of the target vehicle. Then, as long as the projection of the body of the second vehicle in the adjacent lane on the driving lane of the target vehicle intersects with the body of the target vehicle, it is considered that the second vehicle is within the parallel range of the second vehicle. That is, visually, the freight truck is relatively close to the target vehicle, and when the two are driving side by side, it may cause a sense of oppression to the occupants (including the driver) in the target vehicle, making them in a state of psychological anxiety. Moreover, since the freight truck may block the view of the occupants in the target vehicle at this time, the occupants who were originally looking at the scenery along the way will not get a good view. And if the target vehicle does not make a lane-changing or overtaking action for a long time, it will greatly affect the riding experience of the occupants.

[0085] Therefore, after identifying that the second vehicle is within the parallel range of the target vehicle, it is necessary to control the target vehicle to move away from the second vehicle. One way is to directly accelerate and overtake in the current driving lane, and the other way is to first change lanes to the adjacent lane on the other side. After changing lanes, it is possible to overtake or not overtake, which depends on whether the second vehicle can be separated from the lateral area of the parallel range after changing lanes. That is, the above-mentioned parallel range is k times the body length of the target vehicle, which refers to the longitudinal length of the parallel range, and the lateral length can be m times the body width of the target vehicle, where m is greater than or equal to 1.

[0086] It should be noted that the value of the parallel range can be greater than the body length of the target vehicle. For example, it can be 2 to 5 times the body length of the target vehicle. The specific value can be determined according to the volume or cross-sectional area of the second vehicle. Those skilled in the art can select according to the actual situation, and this application does not make any limitations.

[0087] S204. When the scheduling instruction includes an avoidance instruction, start the lane-changing control program to vacate the driving lane for the vehicle that needs to pass urgently.

[0088] In this step, the scheduling instruction is sent by the remote scheduling center to achieve the unified allocation of traffic resources. Generally, it is to avoid traffic congestion or when special circumstances require vacating traffic resources, and the remote scheduling center will issue the corresponding scheduling instruction. For example, during the peak commuting hours, or due to a traffic accident or natural disaster ahead, and the sensors of the target vehicle cannot reach such a far monitoring range, the remote scheduling center needs to intervene in a timely manner. Another example is that when a patient needs to be sent to the hospital urgently, after the people in the vehicle call the police, the police contact the remote scheduling center, mark the vehicle as a special vehicle, and the vehicles along the way need to automatically change lanes to avoid it. For vehicles that are originally special vehicles, such as fire trucks, ambulances, police cars, military vehicles, etc., during the execution of tasks, the remote scheduling center can also send scheduling instructions to let the vehicles along the way change lanes and avoid automatically.

[0089] Through the cooperation of the monitoring of the target vehicle itself and the remote scheduling center, the intelligent driving assistance can be made more intelligent, meeting the psychological needs of users, as well as the needs of the unified allocation of traffic resources. And it can be automatically completed without the participation of the driver in the target vehicle throughout the process, improving the user experience.

[0090] This embodiment provides a method for a vehicle's autonomous lane-changing system. By monitoring the preset ranges corresponding to the driving lane and the adjacent lane of the target vehicle in real time, and obtaining the scheduling instruction sent by the remote scheduling center; when it is detected that there is a first vehicle in the driving lane, determine to start the lane-changing control program according to the first recognition type and / or the longitudinal relative position information of the first vehicle; when it is detected that there is a second vehicle in the adjacent lane, determine to start the lane-changing control program or the away control program without changing lanes according to the second recognition type of the second vehicle and / or the relative position between the second vehicle and the target vehicle; when the scheduling instruction includes an avoidance instruction, start the lane-changing control program to vacate the driving lane for the vehicle that needs to pass urgently. It solves the technical problem of how to make the vehicle change lanes autonomously to meet the visual, riding and driving needs of the occupants for comfort and safety, as well as the overall resource allocation needs of intelligent transportation. It achieves the technical effect of intelligent driving assistance that can meet the vehicle driving, the psychology of the passengers and crew, and the overall traffic resource allocation at the same time.

[0091] For ease of understanding, the following further gives an example of the specific implementation method in S203.

[0092] Figure 3 It is a schematic flowchart of another vehicle autonomous lane-changing method provided by an embodiment of the present application. As Figure 3 shown, the specific steps of this vehicle autonomous lane-changing method include:

[0093] S301. Real-time monitor the preset ranges corresponding to the driving lane and the adjacent lane of the target vehicle.

[0094] For the specific principle and glossary explanation of this step, reference can be made to S201, which will not be elaborated here.

[0095] S302. When it is detected that the second recognition type of the second vehicle in the adjacent lane is: a vehicle type that is likely to cause psychological anxiety to the occupants, determine whether the second vehicle is within the parallel range of the target vehicle.

[0096] In this step, the parallel range is determined according to the body length of the target vehicle and a preset coefficient. If so, execute S303; otherwise, return to S301.

[0097] Specifically, the vehicle types that cause psychological anxiety to the occupants include: luxury brand vehicles, trucks, dangerous goods transport vehicles, special vehicles, and the characteristic vehicles include: fire trucks, ambulances, police cars, military vehicles.

[0098] S303. Determine whether there is a safe overtaking space on the driving lane in the forward direction of the target vehicle.

[0099] In this step, if there is a safe overtaking space, execute S304; otherwise, execute S305.

[0100] Specifically, there may be two situations in front of the target vehicle on the driving lane: one is that there are other vehicles, and the other is that there are no other vehicles. If there are no other vehicles, then there must be a safe overtaking space. If there are other vehicles, then it is necessary to use radar or laser ranging to determine whether the distance between the target vehicle and the vehicle in front is large enough, that is, when the distance is greater than or equal to the preset safe distance, the target vehicle can accelerate to overtake the second vehicle in the adjacent lane, and at this time, it is called that there is a safe overtaking space. It should be noted that the safe distance is related to the relative speeds of the target vehicle, the second vehicle, and the vehicle in front, as well as the speed limit of the current section. If the safe overtaking space is small and only overtaking can be achieved, then after overtaking, a lane change is also required. If the safe overtaking space is sufficient, the distance from the second vehicle needs to be increased to above the preset distance threshold.

[0101] S304. Use the away control program to control the target vehicle to overtake, so that the second vehicle gets out of the parallel range.

[0102] In this step, the away control program first controls the target vehicle to deviate a certain distance, such as 20 - 50 cm, from the center of the driving lane in the direction away from the second vehicle, and then controls the target vehicle to speed up to overtake the second vehicle, so that the second vehicle gets out of the parallel range. Finally, the target vehicle is controlled to return to the center line of the driving lane and continue driving.

[0103] In a possible design, if the distance between the target vehicle and the vehicle in front is less than the preset safety distance after the target vehicle overtakes the second vehicle, in order to avoid a collision accident with the vehicle in front, then it is necessary to start the lane change control program to change lanes to overtake the vehicle in front, and then return to the previous driving lane.

[0104] It should be noted that before controlling the target vehicle to accelerate, a seat belt pre - tensioning instruction can be issued to pre - tighten the seat belt on the target vehicle, so as to reduce the response time of the seat belt in case of a safety accident due to accelerating overtaking and improve the overtaking safety of the vehicle.

[0105] S305. Determine whether there is also a second vehicle of the second recognition type on the adjacent lane on the other side.

[0106] In this step, if not, execute S306; if so, execute S307.

[0107] S306. Activate the lane change control program to make the target vehicle change lanes to the adjacent lane on the other side.

[0108] In a possible design, after the target vehicle changes lanes, control the target vehicle to speed up to overtake the second vehicle to reduce the anxiety of the passengers in the target vehicle.

[0109] S307. Determine whether there is a safe retreat space in the opposite direction of the target vehicle's forward direction on the driving lane.

[0110] In this step, if so, execute S308; if not, execute S309.

[0111] S308. Use the away control program to control the target vehicle to decelerate to move away from the second vehicles on both adjacent lanes.

[0112] In this step, when there is no vehicle behind, or the distance between other vehicles behind and the target vehicle is greater than the preset safe retreat distance, the away control program controls the target vehicle to decelerate so that the second vehicles on both sides get out of the parallel range.

[0113] Further, start the lane change control program to change lanes so that the target vehicle will not be simultaneously sandwiched by the second vehicles on both the left and right sides again, avoiding a sense of insecurity among the occupants of the target vehicle, that is, avoiding the situation of their psychological anxiety, and improving the user experience.

[0114] S309. Send an avoidance request to the remote dispatching center or surrounding vehicles so that the target vehicle can opportunistically break away from the surrounded driving environment.

[0115] In this embodiment, the left and right sides of the target vehicle are sandwiched by second vehicles, such as freight trucks, and the forward and backward routes are blocked by other vehicles. At this time, the target vehicle can send an avoidance request to the remote dispatching center, and the remote dispatching center can send an avoidance instruction to the vehicles around the target vehicle to make them change lanes, thereby creating enough space for the target vehicle to break away from the surrounded environment. Another way is that the target vehicle directly sends an avoidance request to each surrounding vehicle. After receiving the avoidance request, other vehicles perform avoidance operations. For example, the vehicle in front can accelerate, and the vehicle behind can decelerate to provide enough space for the target vehicle to break away from the surround.

[0116] In a possible situation, if the current road section is congested, the remote dispatching center responds to the avoidance request sent by the target vehicle and sends a congestion reminder to the target vehicle. The target vehicle will broadcast the congestion reminder on the in-vehicle display screen or in a voice output manner to soothe the anxiety of the occupants in the vehicle and improve the user experience.

[0117] This embodiment provides a method for a vehicle autonomous lane change system. By real-time monitoring of the preset ranges corresponding to the driving lane and the adjacent lane of the target vehicle, and obtaining the dispatching instructions sent by the remote dispatching center; when it is detected that there is a first vehicle in the driving lane, determine to start the lane change control program according to the first identification type and / or the longitudinal relative position information of the first vehicle; when it is detected that there is a second vehicle in the adjacent lane, determine to start the lane change control program or the away control program without changing lanes according to the second identification type of the second vehicle and / or the relative position between the second vehicle and the target vehicle; when the dispatching instruction includes an avoidance instruction, start the lane change control program to vacate the driving lane for the vehicle that needs to pass urgently. It solves the technical problem of how to make the vehicle autonomously change lanes to meet the visual, driving, and overall resource allocation requirements of intelligent transportation for the comfort and safety of the occupants. It achieves the technical effect of intelligent driving assistance that simultaneously meets the vehicle driving, the psychology of the occupants, and the overall traffic resource allocation.

[0118] Figure 4 This is a schematic structural diagram of a vehicle autonomous lane change device provided by an embodiment of the present application. The vehicle autonomous lane change device 400 can be implemented by software, hardware, or a combination of both.

[0119] As shown Figure 4 in FIG. Figure 4 , the vehicle autonomous lane-changing device 400 includes:

[0120] An acquisition module 401, configured to monitor a preset range corresponding to the driving lane and the adjacent lane of the target vehicle in real time, and acquire a dispatching instruction sent by a remote dispatching center;

[0121] A processing module 402, configured to:

[0122] When a first vehicle is detected in the driving lane, determine to start a lane-changing control program according to the first identification type and / or the motion state of the first vehicle;

[0123] When a second vehicle is detected in the adjacent lane, determine to start a lane-changing control program or a keep-away control program without changing lanes according to the second identification type of the second vehicle and / or the relative position between the second vehicle and the target vehicle;

[0124] When the dispatching instruction includes an avoidance instruction, start a lane-changing control program to vacate the driving lane for a vehicle that needs to pass urgently.

[0125] In a possible design, the processing module 402 is configured to:

[0126] When the first identification type is a vehicle type that is likely to cause psychological anxiety to the occupants, start a lane-changing control program in any motion state of the first vehicle, so that the target vehicle performs a lane change when there is a safe lane-changing space in the adjacent lane.

[0127] In a possible design, the processing module 402 is configured to:

[0128] When the first vehicle is in front of or behind the target vehicle, start a lane-changing control program regardless of whether the first vehicle continuously approaches the target vehicle within a preset time period.

[0129] Optionally, the vehicle types that are likely to cause psychological anxiety to the occupants include: luxury brand vehicles, trucks, hazardous material transport vehicles, special vehicles, and the characteristic vehicles include: fire trucks, ambulances, police cars, military vehicles.

[0130] In a possible design, the processing module 402 is configured to:

[0131] When the second identification type is a vehicle type that is likely to cause psychological anxiety to the occupants, determine whether the second vehicle is within the parallel range of the target vehicle, and the parallel range is determined according to the body length of the target vehicle and a preset coefficient;

[0132] If so, determine whether there is a safe overtaking space in the forward direction of the driving lane of the target vehicle;

[0133] If there is a safe overtaking space, the target vehicle is controlled to overtake using the away control program, so that the second vehicle gets out of the parallel range;

[0134] If there is no safe overtaking space, when there is no second vehicle of the second recognition type on the adjacent lane on the other side, the lane change control program is turned on to make the target vehicle change lanes to the adjacent lane on the other side.

[0135] In a possible design, when there is no safe overtaking space, the processing module 402 is further configured to:

[0136] When there is also a second vehicle of the second recognition type on the adjacent lane on the other side, it is determined whether there is a safe retreat space in the opposite direction of the target vehicle's forward direction in the driving lane;

[0137] If so, the away control program is used to control the target vehicle to decelerate to move away from the second vehicles on both adjacent lanes.

[0138] In a possible design, the processing module 402 is further configured to:

[0139] After the target vehicle changes lanes, control the target vehicle to speed up and overtake the second vehicle to reduce the anxiety of the passengers in the target vehicle.

[0140] It should be noted that Figure 4 The device provided in the illustrated embodiment can execute the methods provided in any of the above method embodiments. The specific implementation principles, technical features, explanations of professional terms, and technical effects are similar and will not be elaborated here.

[0141] Figure 5 This is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 5 shown, the electronic device 500 may include: at least one processor 501 and a memory 502. Figure 5 The electronic device shown takes one processor as an example.

[0142] The memory 502 is used to store programs. Specifically, the program may include program code, and the program code includes computer operation instructions.

[0143] The memory 502 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0144] The processor 501 is configured to execute the computer execution instructions stored in the memory 502 to implement the methods described in the above method embodiments.

[0145] Among them, the processor 501 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0146] Optionally, the memory 502 can be either independent or integrated with the processor 501. When the memory 502 is a device independent of the processor 501, the electronic device 500 may further include:

[0147] A bus 503 for connecting the processor 501 and the memory 502. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0148] Optionally, in specific implementation, if the memory 502 and the processor 501 are integrated on a chip, the memory 502 and the processor 501 can communicate through an internal interface.

[0149] The embodiments of the present application also provide a vehicle, including Figure 5 The electronic device shown to implement the vehicle autonomous lane change method provided by each of the above method embodiments.

[0150] The embodiments of the present application also provide a computer-readable storage medium, which may include: various media capable of storing program codes such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc. Specifically, the computer-readable storage medium stores program instructions for the methods in each of the above method embodiments.

[0151] The embodiments of the present application also provide a computer program product, including a computer program, which implements the methods in each of the above method embodiments when executed by a processor.

[0152] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle autonomous lane-changing method, characterized in that, Including: Real-time monitoring is performed on a preset range corresponding to the driving lane and the adjacent lane of the target vehicle, and a dispatching instruction sent by a remote dispatching center is obtained; When it is detected that there is a first vehicle in the driving lane, a lane-changing control program is determined to be started according to the first identification type and / or the motion state of the first vehicle; When it is detected that there is a second vehicle in the adjacent lane, a lane-changing control program or a non-lane-changing away control program is determined to be started according to the second identification type of the second vehicle and / or the relative position between the second vehicle and the target vehicle; When the dispatching instruction includes an avoidance instruction, the lane-changing control program is started to vacate the driving lane for a vehicle that needs to pass urgently; The determining to start the lane-changing control program according to the first identification type and / or the motion state of the first vehicle includes: When the first identification type is a vehicle type that is likely to cause psychological anxiety to the occupants, when the first vehicle is in front of or behind the target vehicle, regardless of whether the first vehicle continuously approaches the target vehicle within a preset time period, the lane-changing control program is started; wherein, the vehicle types that are likely to cause psychological anxiety to the occupants include: luxury brand vehicles, trucks, dangerous goods transport vehicles, and special vehicles.

2. The vehicle autonomous lane-changing method according to claim 1, wherein The determining to start the lane-changing control program or the non-lane-changing away control program according to the second identification type of the second vehicle and / or the relative position between the second vehicle and the target vehicle includes: When the second identification type is a vehicle type that is likely to cause psychological anxiety to the occupants, it is judged whether the second vehicle is within the parallel range of the target vehicle, and the parallel range is determined according to the body length of the target vehicle and a preset coefficient; If so, it is judged whether there is a safe overtaking space in the forward direction of the target vehicle on the driving lane; If there is the safe overtaking space, the away control program is used to control the target vehicle to overtake; If there is no such safe overtaking space, when there is no second vehicle of the second identification type on the other adjacent lane, the lane-changing control program is started to make the target vehicle change lanes to the other adjacent lane.

3. The vehicle autonomous lane-changing method according to claim 2, wherein When there is no such safe overtaking space, it further includes: When there is also a second vehicle of the second identification type on the other adjacent lane, it is judged whether there is a safe retreat space in the opposite direction of the forward direction of the target vehicle on the driving lane; If so, the away control program is used to control the target vehicle to decelerate to keep away from the second vehicles on both adjacent lanes; 4. The vehicle autonomous lane-changing method according to claim 2, wherein After starting the lane-changing control program when there is no second vehicle of the second identification type on the other adjacent lane, it further includes: After the target vehicle changes lanes, the target vehicle is controlled to accelerate and overtake the second vehicle.

5. A vehicle autonomous lane-changing device, characterized in that, Including: An acquisition module, configured to perform real-time monitoring on a preset range corresponding to the driving lane and the adjacent lane of the target vehicle, and obtain a dispatching instruction sent by a remote dispatching center; A processing module, configured to: When a first vehicle is detected in the driving lane, determine to activate the lane-changing control program according to the first identification type of the first vehicle and / or the longitudinal relative position information; When a second vehicle is detected in the adjacent lane, determine to activate the lane-changing control program or the away control program without changing lanes according to the second identification type of the second vehicle and / or the relative position between the second vehicle and the target vehicle; When the scheduling instruction includes an avoidance instruction, activate the lane-changing control program; The processing module is specifically configured to: When the first identification type is a vehicle type that is likely to cause psychological anxiety to the occupants, when the first vehicle is in front of or behind the target vehicle, activate the lane-changing control program regardless of whether the first vehicle continuously approaches the target vehicle within a preset time period; wherein, the vehicle types that are likely to cause psychological anxiety to the occupants include: luxury brand vehicles, trucks, hazardous material transport vehicles, and special vehicles.

6. An electronic device, characterized in that, Comprising: A processor; And, A memory for storing the computer program of the processor; Wherein, the processor is configured to execute the vehicle autonomous lane-changing method according to any one of claims 1 to 4 by executing the computer program.

7. A vehicle, characterized in that, Comprising: The electronic device according to claim 6 to implement the vehicle autonomous lane-changing method according to any one of claims 1 to 4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program, when executed by the processor, implements the vehicle autonomous lane-changing method according to any one of claims 1 to 4.

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