Lane change position control method and device, vehicle, and storage medium

Abstract

The present application relates to the technical field of automatic driving, and discloses a lane changing position control method and device, a vehicle and a storage medium, the lane changing position control method comprises the following steps: when the distance between the current driving position and the front intersection position reaches a distance threshold, it is judged whether there is an intersection node between the current driving position and the front intersection position; when there is an intersection node between the current driving position and the front intersection position, the distance between the front intersection and the intersection node is obtained; the distance between the front intersection and the intersection node is compared with a target distance, and a preset lane changing strategy is adopted for lane changing according to the comparison result. Thus, when a small intersection appears in the front intersection, the distance between the front intersection and the intersection node is obtained in real time, the lane changing strategy is determined according to the comparison result of the distance between the front intersection and the intersection node and the target distance, and the efficiency of road traffic is improved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a lane change position control method, device, vehicle, and storage medium. Background Technology

[0002] City navigation-assisted driving is used to enable vehicles to perceive roads and assist driving during autonomous driving.

[0003] When initiating a navigation lane change using City Navigation Assist, a distance threshold L to the intersection is typically set. When the vehicle reaches a distance L from the intersection, a lane change is initiated. However, if there are small intersections within the distance threshold L, and the navigation lane change is still initiated according to L, the vehicle is likely to be blocked by frequently entering and exiting vehicles, non-motorized vehicles, and pedestrians before it changes lanes to the small intersection, thus reducing traffic efficiency. Summary of the Invention

[0004] The main objective of this invention is to provide a lane change position control method, device, vehicle, and storage medium, aiming to solve the problem of how to improve vehicle traffic efficiency.

[0005] To achieve the above objectives, the present invention provides a lane change position control method, the lane change position control method comprising the following steps:

[0006] When the distance between the current driving position and the intersection ahead reaches a distance threshold, determine whether there is an intersection node between the current driving position and the intersection ahead.

[0007] When there is an intersection node between the current driving position and the intersection ahead, obtain the distance between the intersection ahead and the intersection node;

[0008] The distance between the intersection ahead and the intersection node is compared with the target distance, and a preset lane-changing strategy is adopted to change lanes based on the comparison result.

[0009] Optionally, before comparing the distance between the upcoming intersection and the intersection node with the target distance, the method further includes:

[0010] Obtain the distance between the point where the dashed and solid lines of the lane lines near the intersection ahead change to the intersection ahead, the lane change space reservation threshold, and the width of the intersection node;

[0011] The target distance is obtained based on the distance between the point where the dashed and solid lines change and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node.

[0012] Optionally, obtaining the distance between the point where the dashed and solid lines of the lane markings change near the intersection ahead and the intersection ahead includes:

[0013] The lane lines approaching the intersection ahead are identified using lane line data stored in the high-precision map, and the solid line information of the lane lines approaching the intersection ahead is obtained.

[0014] Determine the position coordinates of each sampling point in the solid line based on the solid line information;

[0015] The length of the solid line is obtained by calculating the position coordinates of each sampling point in the solid line;

[0016] The length of the solid line is taken as the distance between the point where the solid and dashed lines change and the intersection ahead.

[0017] Optionally, the step of using a preset lane-changing strategy based on the comparison result to change lanes includes:

[0018] If the comparison result shows that the distance between the intersection ahead and the intersection node is greater than or equal to the target distance, a first lane change command is initiated after passing the intersection node;

[0019] Perform a lane change according to the first lane change command.

[0020] Optionally, the step of using a preset lane-changing strategy based on the comparison result to change lanes includes:

[0021] If the comparison result shows that the distance between the intersection ahead and the intersection node is less than the target distance, a second lane change command is initiated.

[0022] Perform a lane change according to the second lane change command.

[0023] Optionally, determining whether there is an intersection node between the current driving position and the position of the intersection ahead includes:

[0024] Determine whether the intersection node has been obtained from the intersection data stored in the high-precision map;

[0025] If the intersection node is not obtained from the intersection data stored in the high-precision map, obtain the navigation map;

[0026] Based on the topological relationship of the navigation map, determine whether there is an intersection node between the current driving position and the intersection ahead.

[0027] Optionally, after determining whether there is an intersection node between the current driving position and the position of the intersection ahead, the method further includes:

[0028] If there is no intersection node between the current driving position and the intersection ahead, initiate a third lane change command;

[0029] Perform a lane change according to the third lane change command.

[0030] Furthermore, to achieve the above objectives, the present invention also proposes a lane change position control device, the lane change position control device comprising:

[0031] The judgment module is used to determine whether there is an intersection node between the current driving position and the intersection ahead when the distance between the current driving position and the intersection ahead reaches a distance threshold.

[0032] The acquisition module is used to acquire the distance between the current driving position and the intersection node ahead when there is an intersection node between the current driving position and the intersection node ahead.

[0033] The lane-changing module is used to compare the distance between the intersection ahead and the intersection node with the target distance, and to change lanes using a preset lane-changing strategy based on the comparison result.

[0034] Furthermore, to achieve the above objectives, the present invention also proposes a vehicle comprising: a memory, a processor, and a lane change position control program stored in the memory and executable on the processor, the lane change position control program being configured to implement the lane change position control method as described above.

[0035] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a lane change position control program, which, when executed by a processor, implements the lane change position control method as described above.

[0036] The lane-change position control method proposed in this invention determines whether an intersection node exists between the current driving position and the upcoming intersection when the distance between the current driving position and the intersection node reaches a distance threshold. If an intersection node exists, the method acquires the distance between the upcoming intersection node and the intersection node. This distance is then compared with a target distance, and a preset lane-change strategy is adopted based on the comparison result. Therefore, when a small intersection appears ahead, the method acquires the distance between the upcoming intersection node and the intersection node in real time, and determines the lane-change strategy based on the comparison result between the distance between the upcoming intersection node and the target distance, thereby improving road traffic efficiency. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the vehicle structure of the hardware operating environment involved in the embodiments of the present invention;

[0038] Figure 2 This is a flowchart illustrating the first embodiment of the lane change position control method of the present invention;

[0039] Figure 3This is a schematic diagram of a road environment for an embodiment of the lane change position control method of the present invention;

[0040] Figure 4 This is a high-precision map display schematic diagram of an embodiment of the lane change position control method of the present invention;

[0041] Figure 5 This is a schematic diagram of a navigation map display according to an embodiment of the lane change position control method of the present invention;

[0042] Figure 6 This is a schematic diagram of position coordinates for one embodiment of the lane change position control method of the present invention;

[0043] Figure 7 This is a flowchart illustrating the second embodiment of the lane change position control method of the present invention;

[0044] Figure 8 This is a flowchart illustrating the third embodiment of the lane change position control method of the present invention;

[0045] Figure 9 This is a functional module diagram of the first embodiment of the lane change position control device of the present invention.

[0046] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0048] Reference Figure 1 , Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention.

[0049] like Figure 1 As shown, the device may include: a processor 1001, such as a CPU; a communication bus 1002; a user interface 1003; a network interface 1004; and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and input units such as buttons; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or stable non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0050] Those skilled in the art will understand that Figure 1The vehicle structure shown does not constitute a limitation on the vehicle and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0051] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a lane change position control program.

[0052] exist Figure 1 In the vehicle shown, the network interface 1004 is mainly used to connect to the server and communicate data with the server; the user interface 1003 is mainly used to connect to the user terminal and communicate data with the terminal; the present invention calls the lane change position control program stored in the memory 1005 through the processor 1001 and executes the lane change position control method provided in the embodiment of the present invention.

[0053] Based on the above hardware structure, an embodiment of the lane change position control method of the present invention is proposed.

[0054] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the lane change position control method of the present invention.

[0055] In the first embodiment, the lane change position control method includes the following steps:

[0056] Step S10: When the distance between the current driving position and the intersection ahead reaches a distance threshold, determine whether there is an intersection node between the current driving position and the intersection ahead.

[0057] It should be noted that the executing entity in this embodiment is a vehicle, which is equipped with a lane change position control program. Lane change position control can be performed according to this program, such as... Figure 3 The road environment diagram shown can be calculated based on high-precision maps or navigation maps, indicating the current driving position and the position of the intersection ahead.

[0058] In practical implementation, when intersection nodes are displayed in the high-precision map, they can be calculated directly from the high-precision map. If intersection nodes are not displayed in the high-precision map, then the intersection nodes displayed on the navigation map need to be obtained and calculated. The high-precision map provides vehicles with highly accurate maps for road decision-making, including lane lines and lane attributes, etc. Figure 4 The high-precision map shown is a schematic diagram. Navigation maps are provided to drivers for route planning, including the vehicle's location on the road and its direction of travel. They generally do not include precise data such as lane lines. Figure 5The navigation map shown is a schematic diagram. In this embodiment, high-precision maps and navigation maps are combined and analyzed to obtain more accurate road information, so as to improve the efficiency of road traffic.

[0059] In this embodiment, the distance threshold is represented by L, but it can also be other parameters. This embodiment does not limit this. When initiating a navigation lane change through city navigation assisted driving, a distance threshold L to the intersection is generally set. When the vehicle travels to a distance L from the intersection, a lane change will be initiated. However, if there are small intersections within the distance threshold L, and the navigation lane change is still initiated according to L, the traffic efficiency will be affected by the vehicles at the small intersections. Therefore, this embodiment obtains the distance between the current driving position and the position of the intersection ahead, and decides whether to initiate a lane change command based on the distance between the intersection ahead and the intersection node. Compared with initiating a navigation lane change only through a fixed distance, the lane change position can be flexibly adjusted according to the current road environment, improving the flexibility of lane changes.

[0060] Step S20: When there is an intersection node between the current driving position and the intersection ahead, obtain the distance between the intersection ahead and the intersection node.

[0061] In this embodiment, if there is an intersection node between the current driving position and the intersection ahead, it indicates that there is a small intersection before the intersection ahead. When there is a small intersection before the intersection ahead, the lane change position is determined according to the distance between the intersection ahead and the intersection node.

[0062] It should be noted that the distance between the upcoming intersection and the intersection node can be calculated using a high-precision map or navigation map. When intersection node information is stored in the high-precision map data, the intersection node coordinates are obtained based on the intersection node information, and the coordinates of the upcoming intersection are obtained based on the high-precision map data. The distance between the upcoming intersection and the intersection node is then calculated based on the intersection node coordinates and the coordinates of the upcoming intersection. For example, in the same coordinate system, if the intersection node coordinates are (10, 5) and the upcoming intersection coordinates are (30, 25), the distance d between the upcoming intersection and the intersection node is 20m. Figure 6 The diagram shows the location coordinates.

[0063] Step S30: Compare the distance between the intersection ahead and the intersection node with the target distance, and use a preset lane-changing strategy to change lanes based on the comparison result.

[0064] It should be noted that the preset lane change strategy can be to initiate a lane change after passing the intersection node, or to initiate a lane change directly, or other lane change methods. This embodiment does not limit this. The target distance is the sum of the distance between the point where the dashed and solid lines of the lane line change near the intersection ahead, the lane change space reservation threshold, and the width of the intersection node. By comparing the distance between the intersection ahead and the intersection node with the target distance, it is determined whether to initiate a lane change after passing the intersection node or to initiate a lane change directly.

[0065] In one embodiment, when the distance between the current driving position and the intersection ahead reaches a distance threshold, it is determined whether there is an intersection node between the current driving position and the intersection ahead. If there is an intersection node, the distance between the intersection ahead and the intersection node is obtained. The distance between the intersection ahead and the intersection node is compared with a target distance, and a preset lane-changing strategy is adopted based on the comparison result to change lanes. Therefore, when a small intersection appears ahead, the distance between the intersection ahead and the intersection node is obtained in real time, and a lane-changing strategy is determined based on the comparison result between the distance between the intersection ahead and the intersection node and the target distance, thereby improving road traffic efficiency.

[0066] Reference Figure 7 , Figure 7 This is a flowchart illustrating a second embodiment of the lane change position control method of the present invention. Based on the first embodiment, the second embodiment of the present invention is proposed. In the second embodiment, before step S30, the method further includes:

[0067] Step S301: Obtain the distance between the point where the solid and dashed lines of the lane line change near the intersection ahead and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node.

[0068] In this embodiment, the distance between the point where the dashed and solid lines of the lane line change near the intersection ahead and the intersection ahead is represented by m, the lane change space reservation threshold is represented by n, and the width of the intersection node is represented by a.

[0069] Further, obtaining the distance between the point where the dashed and solid lines of the lane markings change near the intersection ahead and the intersection ahead includes:

[0070] The lane lines approaching the intersection are identified using lane line data stored in a high-precision map, and solid line information of the lane lines approaching the intersection is obtained. The position coordinates of each sampling point in the solid line are determined based on the solid line information. The position coordinates of each sampling point in the solid line are calculated to obtain the length of the solid line. The length of the solid line is used as the distance between the point where the solid and dashed lines change and the intersection ahead.

[0071] Continue as Figure 3 The distance between the point where the dashed and solid lines of the lane lines change, which is close to the intersection ahead, and the intersection ahead can be considered as the length of the solid line. To obtain the length of the solid line, it can be calculated using a high-precision map. Specifically, the high-precision map stores lane line data, which includes lane line data and attributes. Based on the lane line data, the position coordinates of the solid line in the lane line can be obtained, and then the length of the solid line can be obtained based on the position coordinates of the solid line. The specific calculation method is similar to the calculation method of the distance between the intersection ahead and the intersection node, and will not be elaborated here.

[0072] In this embodiment, obtaining the width of the intersection node includes:

[0073] The location information of the intersection node is obtained by storing intersection data in a high-precision map; the location coordinates of the intersection node are determined based on the location information; the width of the intersection node is calculated by calculating the location coordinates of the intersection node. The specific calculation method is similar to the calculation method of the distance between the intersection ahead and the intersection node, and will not be described in detail here.

[0074] To improve computational efficiency, the width of intersection nodes can also be represented by a constant, such as 15m, or by other parameters. This embodiment does not impose any restrictions on this and can be flexibly adjusted according to actual needs.

[0075] Step S302: The target distance is obtained based on the distance between the point where the dashed and solid lines of the lane line near the intersection ahead change and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node.

[0076] In the specific implementation, the target distance is obtained by adding the distance between the dashed and solid line change point of the lane line approaching the intersection and the intersection, the lane change space reservation threshold, and the width of the intersection node, i.e., target distance = m + n + a. The target distance is thus determined, and the lane change position is easily determined by the target distance, which improves the flexibility of lane change control.

[0077] In the provided embodiment, the distance between the dashed and solid line change point of the lane line at the intersection ahead and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node are combined to determine the lane change position. Compared with using only the distance threshold L as the position for initiating a lane change, this embodiment is closer to the actual road environment and determines the lane change position according to the actual road environment, thereby improving the flexibility of lane change control.

[0078] Reference Figure 8 , Figure 8This is a flowchart illustrating a third embodiment of the lane change position control method of the present invention. Based on the first embodiment, the third embodiment of the present invention is proposed. In the third embodiment, step S30 includes:

[0079] Step S303: When the comparison result shows that the distance between the intersection ahead and the intersection node is greater than or equal to the target distance, a first lane change command is initiated after passing the intersection node.

[0080] In this embodiment, the first lane change instruction is to initiate the lane change after passing the intersection node. When there is an intersection node between the current driving position and the intersection ahead, it is generally advisable to pass the intersection node first, then change lanes to the rightmost lane, and then turn right to avoid being stuck. However, if the small intersection is too close to the main intersection, changing lanes after passing the small intersection may miss the lane change space, and a lane change is still required in advance. Therefore, the lane change position is determined by combining the distance between the dashed and solid line change point of the lane line ahead to the intersection ahead, the lane change space reservation threshold, and the width of the intersection node. When the comparison result shows that the distance between the intersection ahead and the intersection node is greater than or equal to the target distance, it indicates that there is sufficient lane change space between the dashed and solid line change point of the lane line ahead and the intersection ahead. In this case, the lane change can be initiated after passing the intersection node, which avoids the traffic efficiency caused by the congestion of the intersection node and also avoids missing the lane change opportunity.

[0081] Step S304: Perform a lane change according to the first lane change command.

[0082] In this embodiment, step S30 includes:

[0083] If the comparison result shows that the distance between the intersection ahead and the intersection node is less than the target distance, a second lane change command is initiated, and a lane change is performed according to the second lane change command.

[0084] In this embodiment, the second lane change command is to directly initiate a lane change. When there is an intersection node between the current driving position and the intersection ahead, it is generally chosen to pass the intersection node before changing lanes to the rightmost lane and then turning right, thus avoiding being blocked. However, if the small intersection is too close to the main intersection, changing lanes after passing the small intersection may miss the lane change space, and a lane change still needs to be made in advance. Therefore, the lane change position is determined by combining the distance between the dashed and solid line change point of the lane line ahead and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node. When the comparison result shows that the distance between the intersection ahead and the intersection node is less than the target distance, it means that there is not enough lane change space between the dashed and solid line change point of the lane line ahead and the intersection ahead. In this case, it is unavoidable to pass the intersection node, otherwise the lane change opportunity will be missed. Therefore, the method of initiating a lane change when the vehicle is L away from the intersection is adopted to avoid missing the lane change opportunity and thus improve traffic efficiency.

[0085] Further, step S10 includes:

[0086] Determine whether the intersection node is obtained from the intersection data stored in the high-precision map; if the intersection node is not obtained from the intersection data stored in the high-precision map, obtain the navigation map; determine whether there is an intersection node between the current driving position and the position of the intersection ahead based on the topological relationship of the navigation map.

[0087] In this embodiment, during the distance determination process using high-precision map data, if the high-precision map contains intersection node data, it can directly determine whether there is an intersection node between the current driving position and the intersection ahead. If the high-precision map does not contain intersection node data, it can determine whether there is an intersection node between the current driving position and the intersection ahead through the navigation map. This combines the high-precision map and the navigation map to achieve road perception, make lane change decisions based on actual road data, and improve the intelligence and flexibility of lane control.

[0088] Furthermore, after step S10, the method further includes:

[0089] If there is no intersection node between the current driving position and the intersection ahead, a third lane change command is initiated; and a lane change is performed according to the third lane change command.

[0090] In this embodiment, the third lane change command is to directly initiate a lane change. If there is no intersection node between the current driving position and the intersection ahead, the lane change is initiated when the vehicle is at a distance L from the intersection, thereby realizing intelligent vehicle control.

[0091] The present invention further provides a lane change position control device.

[0092] Reference Figure 9 , Figure 9 This is a functional module diagram of the first embodiment of the lane change position control device of the present invention.

[0093] In a first embodiment of the lane change position control device of the present invention, the lane change position control device includes:

[0094] The judgment module 10 is used to determine whether there is an intersection node between the current driving position and the intersection ahead when the distance between the current driving position and the intersection ahead reaches a distance threshold.

[0095] The acquisition module 20 is used to acquire the distance between the current driving position and the intersection node ahead when there is an intersection node between the current driving position and the intersection node ahead.

[0096] The lane-changing module 30 is used to compare the distance between the intersection ahead and the intersection node with the target distance, and to change lanes using a preset lane-changing strategy based on the comparison result.

[0097] In one embodiment, when the distance between the current driving position and the intersection ahead reaches a distance threshold, it is determined whether there is an intersection node between the current driving position and the intersection ahead. If there is an intersection node, the distance between the intersection ahead and the intersection node is obtained. The distance between the intersection ahead and the intersection node is compared with a target distance, and a preset lane-changing strategy is adopted based on the comparison result to change lanes. Therefore, when a small intersection appears ahead, the distance between the intersection ahead and the intersection node is obtained in real time, and a lane-changing strategy is determined based on the comparison result between the distance between the intersection ahead and the intersection node and the target distance, thereby improving road traffic efficiency.

[0098] Optionally, the acquisition module 20 is further configured to acquire the distance between the point where the solid and dashed lines of the lane line near the intersection ahead change to the intersection ahead, the lane change space reservation threshold, and the width of the intersection node;

[0099] The target distance is obtained based on the distance between the point where the dashed and solid lines change and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node.

[0100] Optionally, the acquisition module 20 is further configured to identify lane lines approaching the intersection ahead using lane line data stored in a high-precision map, and obtain solid line information of lane lines approaching the intersection ahead.

[0101] Determine the position coordinates of each sampling point in the solid line based on the solid line information;

[0102] The length of the solid line is obtained by calculating the position coordinates of each sampling point in the solid line;

[0103] The length of the solid line is taken as the distance between the point where the solid and dashed lines change and the intersection ahead.

[0104] Optionally, the lane-changing module 30 is further configured to initiate a first lane-changing command after passing the intersection node when the comparison result indicates that the distance between the intersection ahead and the intersection node is greater than or equal to the target distance;

[0105] Perform a lane change according to the first lane change command.

[0106] Optionally, the lane-changing module 30 is further configured to initiate a second lane-changing command when the comparison result shows that the distance between the intersection ahead and the intersection node is less than the target distance;

[0107] Perform a lane change according to the second lane change command.

[0108] Optionally, the judgment module 10 is further configured to determine whether the intersection node is obtained from the intersection data stored in the high-precision map;

[0109] If the intersection node is not obtained from the intersection data stored in the high-precision map, obtain the navigation map;

[0110] Based on the topological relationship of the navigation map, determine whether there is an intersection node between the current driving position and the intersection ahead.

[0111] Optionally, the lane-changing module 30 is further configured to initiate a third lane-changing command when there is no intersection node between the current driving position and the intersection position ahead;

[0112] Perform a lane change according to the third lane change command.

[0113] Furthermore, to achieve the above objectives, the present invention also proposes a vehicle comprising: a memory, a processor, and a lane change position control program stored in the memory and executable on the processor, the lane change position control program being configured to implement the lane change position control method as described above.

[0114] Since the vehicle adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0115] Furthermore, this embodiment of the invention also proposes a storage medium storing a lane change position control program, which, when executed by a processor, implements the lane change position control method as described above.

[0116] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0117] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0118] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0119] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a smart terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0120] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A lane change position control method, characterized in that, The lane change position control method includes: When the distance between the current driving position and the intersection ahead reaches a distance threshold, determine whether there is an intersection node between the current driving position and the intersection ahead. When there is an intersection node between the current driving position and the intersection ahead, obtain the distance between the intersection ahead and the intersection node; Obtain the distance between the dashed and solid line change point of the lane line near the intersection ahead and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node; The target distance is obtained based on the distance between the point where the dashed and solid lines change and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node; The distance between the intersection ahead and the intersection node is compared with the target distance, and a preset lane-changing strategy is adopted to change lanes based on the comparison result.

2. The lane change position control method as described in claim 1, characterized in that, Obtaining the distance between the point where the dashed and solid lines of the lane markings change near the upcoming intersection and the upcoming intersection includes: The lane lines approaching the intersection ahead are identified using lane line data stored in the high-precision map, and the solid line information of the lane lines approaching the intersection ahead is obtained. Determine the position coordinates of each sampling point in the solid line based on the solid line information; The length of the solid line is obtained by calculating the position coordinates of each sampling point in the solid line; The length of the solid line is taken as the distance between the point where the solid and dashed lines change and the intersection ahead.

3. The lane change position control method as described in claim 1, characterized in that, The step of changing lanes using a preset lane-changing strategy based on the comparison results includes: If the comparison result shows that the distance between the intersection ahead and the intersection node is greater than or equal to the target distance, a first lane change command is initiated after passing the intersection node; Perform a lane change according to the first lane change command.

4. The lane change position control method as described in claim 1, characterized in that, The step of changing lanes using a preset lane-changing strategy based on the comparison results includes: If the comparison result shows that the distance between the intersection ahead and the intersection node is less than the target distance, a second lane change command is initiated. Perform a lane change according to the second lane change command.

5. The lane change position control method as described in any one of claims 1 to 4, characterized in that, The step of determining whether there is an intersection node between the current driving position and the position of the intersection ahead includes: Determine whether the intersection node has been obtained from the intersection data stored in the high-precision map; If the intersection node is not obtained from the intersection data stored in the high-precision map, obtain the navigation map; Based on the topological relationship of the navigation map, determine whether there is an intersection node between the current driving position and the intersection ahead.

6. The lane change position control method as described in any one of claims 1 to 4, characterized in that, After determining whether there is an intersection node between the current driving position and the intersection ahead, the method further includes: If there is no intersection node between the current driving position and the intersection ahead, initiate a third lane change command; Perform a lane change according to the third lane change command.

7. A lane change position control device, characterized in that, The lane change position control device includes: The judgment module is used to determine whether there is an intersection node between the current driving position and the intersection ahead when the distance between the current driving position and the intersection ahead reaches a distance threshold. The acquisition module is used to acquire the distance between the current driving position and the intersection node ahead when there is an intersection node between the current driving position and the intersection node ahead. The acquisition module is also used to acquire the distance between the dashed and solid line change point of the lane line near the intersection ahead and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node. The target distance is obtained based on the distance between the point where the dashed and solid lines change and the intersection ahead, the lane change space reservation threshold, and the width of the intersection node; The lane-changing module is used to compare the distance between the intersection ahead and the intersection node with the target distance, and to change lanes using a preset lane-changing strategy based on the comparison result.

8. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a lane change position control program stored in the memory and executable on the processor, the lane change position control program being configured to implement the lane change position control method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a lane change position control program, which, when executed by a processor, implements the lane change position control method as described in any one of claims 1 to 6.

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