A method for evaluating lane change requests

Abstract

An embodiment of the present invention relates to a processing method for evaluating a lane change application. The method includes: receiving a lane change application; obtaining the speed of the host vehicle, the speed of the vehicle behind, and the longitudinal distance between the host vehicle and the vehicle behind at the current moment; determining whether the vehicle behind has a deceleration intention at the current moment; identifying the vehicle type of the vehicle behind; setting the factors required for evaluation according to the vehicle type of the host vehicle, the vehicle type of the vehicle behind, and the first judgment result; estimating the time to collision; and evaluating according to a preset time to collision threshold; estimating the longitudinal safety distance between the front and rear vehicles; and evaluating according to the first distance s; estimating the longitudinal deceleration of the vehicle behind; and evaluating according to the deceleration factor a2 of the vehicle behind; if the first, second, and third evaluation results are all evaluated as passing, the lane change application is replied with approval. Through the present invention, the fineness of the lane change evaluation strategy is improved based on three types of evaluation models, and the self - adaptability of the lane change evaluation strategy is improved based on dynamically adjusted evaluation factors.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a processing method for evaluating a lane change application. Background Art

[0002] Both assisted driving systems and unmanned driving systems will encounter lane change scenarios. When receiving a lane change request, the system needs to evaluate whether the current driving conditions allow for a lane change. If it is judged to be feasible, the lane change is executed, otherwise the lane change is refused. When processing the lane change request evaluation, the system regards the lane change requesting vehicle as the front vehicle and the vehicle behind the target lane as the rear vehicle. When the speed of the rear vehicle is higher than that of the front vehicle, a collision time is estimated based on the longitudinal distance between the front and rear vehicles divided by the speed difference between the front and rear vehicles. If the collision time is less than a fixed collision time threshold, it is considered that the lane change condition is not met, otherwise it is considered that the lane change condition is met. However, in actual applications, we found that this processing method is too simple and cannot meet more complex lane change scenarios. Summary of the invention

[0003] The purpose of the present invention is to provide a processing method, electronic device and computer-readable storage medium for evaluating lane change applications in view of the defects of the prior art; three evaluation methods are provided: time to collision (TTC) evaluation method, longitudinal safety distance evaluation method and longitudinal deceleration evaluation method; each time a lane change application is received, three evaluation results are obtained based on the above three evaluation methods according to the real-time front and rear vehicle speeds and vehicle spacing; if all three evaluation results are passed, it means that the current front and rear vehicle relationship meets the lane change conditions, otherwise it does not meet; and during the evaluation, the parameters such as the front / rear vehicle deceleration factor, the rear vehicle reaction time factor, and the front and rear vehicle safety time spacing involved in the evaluation can be dynamically adjusted based on factors such as the front and rear vehicle models and the rear vehicle deceleration intention. Through the present invention, the precision of the overall lane change evaluation strategy can be improved based on the three types of evaluation models, and the adaptability of the overall lane change evaluation strategy can be improved based on the dynamically adjusted evaluation factors.

[0004] To achieve the above object, a first aspect of an embodiment of the present invention provides a method for evaluating a lane change application, the method comprising:

[0005] receiving a lane change request; the lane change request including a lane identification;

[0006] The first vehicle behind the vehicle on the lane corresponding to the lane mark is taken as the rear vehicle; and the current speed of the vehicle, the speed of the rear vehicle, and the longitudinal distance between the vehicle and the rear vehicle are obtained as the corresponding first vehicle speed v 1 , first rear speed v 2and a first distance s; and determining whether the rear vehicle has a deceleration intention at the current moment to generate a corresponding first determination result; and identifying the model of the rear vehicle to generate a corresponding model of the rear vehicle; the first determination result includes yes and no;

[0007] The vehicle deceleration factor a required for evaluating the vehicle is determined based on the vehicle model, the rear vehicle model and the first judgment result. 1 , the following vehicle deceleration factor a 2 , Reaction time factor of the following vehicle t r and the safety time distance between the front and rear vehicles t s Set up;

[0008] According to the first vehicle speed v 1 , the first rear vehicle speed v 2 The collision time is estimated by using the first distance s to generate the first collision time t c ; and according to the preset collision time threshold and the first collision time t c Performing an evaluation to generate a first evaluation result;

[0009] According to the first vehicle speed v 1 , the first rear vehicle speed v 2 , the vehicle deceleration factor a 1 , the following vehicle deceleration factor a 2 and the following vehicle reaction time factor t r Estimating the longitudinal safety distance between the front and rear vehicles generates the first safety distance s s ; and according to the first spacing s and the first safety distance s s Performing an evaluation to generate a second evaluation result;

[0010] According to the first vehicle speed v 1 , the first rear vehicle speed v 2 , the first spacing s, the following vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Estimating the longitudinal deceleration of the rear vehicle generates the first longitudinal deceleration a d ; and according to the following vehicle deceleration factor a 2 and the first longitudinal deceleration a d Performing an evaluation to generate a third evaluation result;

[0011] If the first, second and third evaluation results are all passed, the lane change application is replied to be approved.

[0012] Preferably, the vehicle deceleration factor a required for evaluating the vehicle according to the vehicle model, the rear vehicle model and the first judgment result is 1 , the following vehicle deceleration factor a 2, Reaction time factor of the following vehicle t r and the safety time distance between the front and rear vehicles t s Perform the following settings, including:

[0013] If the vehicle type is a type I vehicle, then set the vehicle deceleration factor a 1 2.0m / s 2 If the vehicle type is a Class II vehicle, set the vehicle deceleration factor a 1 1.0m / s 2 ;

[0014] If the following vehicle is a type I vehicle, then set the following vehicle deceleration factor a 2 2.0m / s 2 If the following vehicle is a Class II vehicle, set the following vehicle deceleration factor a 2 1.0m / s 2 ;

[0015] If the first judgment result is no and the following vehicle type is a type I vehicle, then the following vehicle reaction time factor t is set r is 1s, and the front and rear vehicle safety time distance t is set s is 1s; if the first judgment result is no and the rear vehicle model is a Class II model, then the rear vehicle reaction time factor t is set r is 2s, and the front and rear vehicle safety time distance t is set s If the first judgment result is yes, then the following vehicle reaction time factor t is set r is 0.3s, and the front and rear vehicle safety time distance t is set s is 0.5s.

[0016] Preferably, the first vehicle speed v 1 , the first rear vehicle speed v 2 The collision time is estimated by using the first distance s to generate the first collision time t c , specifically including:

[0017] According to the first vehicle speed v 1 , the first rear vehicle speed v 2 and the first distance s to calculate and generate the first collision time t c ,

[0018] Preferably, the collision time threshold value according to the preset collision time and the first collision time t c Performing an assessment to generate a first assessment result, specifically including:

[0019] If the first collision time t cIf the first collision time t is greater than or equal to the collision time threshold, the first evaluation result is set as passed. c If the collision time is less than the collision time threshold, the first evaluation result is set as evaluation failure.

[0020] Preferably, the first vehicle speed v 1 , the first rear vehicle speed v 2 , the vehicle deceleration factor a 1 , the following vehicle deceleration factor a 2 and the following vehicle reaction time factor t r Estimating the longitudinal safety distance between the front and rear vehicles generates the first safety distance s s , specifically including:

[0021] According to the first vehicle speed v 1 , the first rear vehicle speed v 2 , the vehicle deceleration factor a 1 , the following vehicle deceleration factor a 2 and the following vehicle reaction time factor t r Calculate and generate the first safety distance s s ,

[0022] Preferably, the first spacing s and the first safety distance s s The second evaluation result is generated by evaluating, specifically including:

[0023] If the first safety distance s s If the first safety distance s is less than or equal to the first safety distance s, the second evaluation result is set as passed. s If it is greater than the first spacing s, the second evaluation result is set as evaluation failure.

[0024] Preferably, the first vehicle speed v 1 , the first rear vehicle speed v 2 , the first spacing s, the following vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Estimating the longitudinal deceleration of the rear vehicle generates the first longitudinal deceleration a d , specifically including:

[0025] According to the first vehicle speed v 1 , the first rear vehicle speed v 2 , the first spacing s, the following vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Calculate the first longitudinal deceleration a d ,

[0026] Preferably, the following vehicle deceleration factor a 2 and the first longitudinal deceleration a d The third evaluation result is generated by evaluating, including:

[0027] If the first longitudinal deceleration a d Less than or equal to the following vehicle deceleration factor a 2 Then the third evaluation result is set to pass; if the first longitudinal deceleration a d Greater than the following vehicle deceleration factor a 2 Then the third evaluation result is set to evaluation failure.

[0028] A second aspect of an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;

[0029] The processor is used to couple with the memory, read and execute instructions in the memory, so as to implement the method steps described in the first aspect above;

[0030] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0031] A third aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed by a computer, the computer executes the instructions of the method described in the first aspect above.

[0032] The embodiment of the present invention provides a processing method, electronic device and computer-readable storage medium for evaluating lane change applications; three evaluation methods are provided: collision time evaluation method, longitudinal safety distance evaluation method and longitudinal deceleration evaluation method; each time a lane change application is received, three evaluation results are obtained based on the above three evaluation methods according to the real-time front and rear vehicle speeds and vehicle spacing; if all three evaluation results are passed, it means that the current front and rear vehicle relationship meets the lane change conditions, otherwise it does not meet the conditions; and during the evaluation, the parameters such as the front / rear vehicle deceleration factor, the rear vehicle reaction time factor, and the front and rear vehicle safety time spacing involved in the evaluation can be dynamically adjusted based on factors such as the front and rear vehicle models and the rear vehicle deceleration intention. Through the present invention, the precision of the overall lane change evaluation strategy is improved based on the three types of evaluation models, and the adaptability of the overall lane change evaluation strategy is improved based on the dynamically adjusted evaluation factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a processing method for evaluating a lane change application provided in the first embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the structure of an electronic device provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Embodiment 1 of the present invention provides a method for evaluating a lane change application. Figure 1 A schematic diagram of a processing method for evaluating a lane change application provided in the first embodiment of the present invention is shown in FIG. Figure 1 As shown, this method mainly includes the following steps:

[0037] Step 1, receiving a lane change application;

[0038] Among them, the lane change application includes lane marking.

[0039] Here, the assisted driving system or the unmanned driving system (hereinafter collectively referred to as the driving system) can receive a lane change request from any internal module or external module; the lane change request carries a lane mark, and the lane mark points to the target lane of the current lane change.

[0040] Step 2: The first vehicle behind the self-vehicle in the lane corresponding to the lane mark is regarded as the rear vehicle; and the current self-vehicle speed, the rear vehicle speed, and the longitudinal distance between the self-vehicle and the rear vehicle are obtained as the corresponding first self-vehicle speed v 1 , first rear speed v 2 and the first spacing s; and judging whether the rear vehicle has the intention to decelerate at the current moment to generate a corresponding first judgment result; and identifying the model of the rear vehicle to generate the corresponding model of the rear vehicle;

[0041] The first judgment result includes yes and no.

[0042] Here, the lane corresponding to the lane mark is the target lane, and the rear vehicle is the vehicle closest to the ego vehicle on the target lane. The driving system can obtain the real-time longitudinal speed of the ego vehicle, i.e., the first ego vehicle speed v, through the system's travel metering unit and perception module. 1 , the real-time longitudinal speed of the rear vehicle, i.e. the first rear vehicle speed v 2 and the longitudinal distance between the vehicle and the following vehicle, i.e. the first distance s;

[0043] When the driving system judges whether the following vehicle has the intention to decelerate at the current moment, the sensing module obtains the historical tracking trajectory of the following vehicle, extracts the longitudinal speeds of the nearest specified number of trajectory points on the historical tracking trajectory to generate a corresponding speed sequence, and estimates the deceleration according to the speed sequence. If the estimated deceleration exceeds the preset zero deceleration error range, it is judged that the following vehicle has the intention to decelerate at the current moment, and the first judgment result is set to yes. If the estimated deceleration does not exceed the zero deceleration error range, it is judged that the following vehicle has no intention to decelerate at the current moment, and the first judgment result is set to no. It should be noted that the zero deceleration error range is a preset small deceleration error range close to zero.

[0044] When the driving system identifies the model of the rear vehicle, it obtains the obstacle target classification identification result of the rear vehicle by the perception module as the corresponding reference classification, and sets the model of the rear vehicle to a Class I model when the reference classification is a small household car type such as a sedan, jeep, pickup truck, etc., and sets the model of the rear vehicle to a Class II model when the reference classification is a large car type such as a bus, van, truck, etc.; it should be noted that the self-vehicle also has a corresponding self-vehicle type, which also includes Class I and Class II models.

[0045] Step 3: evaluate the required deceleration factor a of the vehicle according to the vehicle type, the vehicle type and the first judgment result. 1 , the following vehicle deceleration factor a 2 , Reaction time factor of the following vehicle t r and the safety time distance between the front and rear vehicles t s Set up;

[0046] Here, the current step is to evaluate the evaluation factors (deceleration factor a of the ego vehicle, the following vehicle model, and the deceleration intention of the following vehicle) required for the subsequent evaluation model. 1 , the following vehicle deceleration factor a 2 , Reaction time factor of the following vehicle t r and the safety time distance between the front and rear vehicles t s ) to make dynamic adjustments, thereby achieving the purpose of improving the adaptability of the overall lane change assessment strategy;

[0047] Specifically, step 31, if the vehicle type is a type I vehicle, then set the vehicle deceleration factor a 1 2.0m / s 2 ; If the vehicle type is a Class II vehicle, set the vehicle deceleration factor a 1 1.0m / s 2 ;

[0048] Here, the driving system can use the vehicle deceleration factor a for evaluation according to the vehicle model. 1 Make adaptive adjustments; the larger the vehicle model, the smaller the deceleration should be; the two adjustment parameters of the current step are 2.0m / s2 , 1.0m / s 2 It is two experience points and can be replaced;

[0049] Step 32: If the following vehicle is of type I, set the following vehicle deceleration factor a 2 2.0m / s 2 ; If the following vehicle is a Class II vehicle, set the following vehicle deceleration factor a 2 1.0m / s 2 ;

[0050] Here, the driving system can use the following vehicle model to evaluate the following vehicle deceleration factor a 2 Make adaptive adjustments; the larger the vehicle model, the smaller the deceleration should be; the two adjustment parameters of the current step are 2.0m / s 2 , 1.0m / s 2 It is two experience points and can be replaced;

[0051] Step 33: If the first judgment result is no and the rear vehicle model is a Class I model, then set the rear vehicle reaction time factor t r is 1s, and the front and rear vehicle safety time distance t is set s is 1s; if the first judgment result is no and the rear vehicle model is a Class II model, then set the rear vehicle reaction time factor t r is 2s, and the front and rear vehicle safety time distance t is set s is 2s; if the first judgment result is yes, then set the following vehicle reaction time factor t r is 0.3s, and the front and rear vehicle safety time distance t is set s is 0.5s.

[0052] Here, the reaction time of the rear vehicle refers to the time t from when the front vehicle starts to change lanes x1 The time when the rear vehicle responds to the lane change of the front vehicle is t x2 The time interval between the following vehicles; the safety time distance between the following vehicles and the leading vehicles when they are at the same longitudinal speed; the driving system can evaluate the reaction time factor t of the following vehicle according to the model of the following vehicle and whether the following vehicle intends to slow down. r 、Safe time distance between front and rear vehicles t s Adaptive adjustment is performed; the larger the vehicle type, the longer the reaction time of the rear vehicle and the longer the safe time distance between the front and rear vehicles; if the rear vehicle intends to slow down, the reaction time factor t r 、Safe time distance between front and rear vehicles t s Reduced to below the normal setting value; the three groups of adjustment parameters of the current step (1s, 1s), (2s, 2s), (0.3s, 0.5s) are three groups of experience values ​​and can be replaced.

[0053] Step 4: According to the first vehicle speed v 1, first rear speed v 2 The collision time is estimated by the first distance s to generate the first collision time t c ; and according to the preset collision time threshold and the first collision time t c Performing an evaluation to generate a first evaluation result;

[0054] Specifically comprising: step 41, according to the first vehicle speed v 1 , first rear speed v 2 The collision time is estimated by the first distance s to generate the first collision time t c ;

[0055] Specifically including: according to the first vehicle speed v 1 , first rear speed v 2 and the first distance s to calculate the first collision time t c ,

[0056] Step 42: according to the preset collision time threshold and the first collision time t c Performing an evaluation to generate a first evaluation result;

[0057] Specifically include: if the first collision time t c If the first collision time t is greater than or equal to the collision time threshold, the first evaluation result is set as passed. c If the time is less than the collision time threshold, the first evaluation result is set as evaluation failure.

[0058] Here, the collision time threshold is a preset empirical threshold. Under normal circumstances, the collision time threshold is set to 3s by default. The evaluation strategy based on the collision time evaluation model in the embodiment of the present invention is: the first collision time t c If it is greater than or equal to the collision time threshold, the assessment passes, otherwise the assessment fails;

[0059] Step 5: According to the first vehicle speed v 1 , first rear speed v 2 , vehicle deceleration factor a 1 , the following vehicle deceleration factor a 2 and the following vehicle reaction time factor t r Estimating the longitudinal safety distance between the front and rear vehicles generates the first safety distance s s ; and according to the first spacing s and the first safety distance s s Performing an evaluation to generate a second evaluation result;

[0060] Specifically comprising: step 51, according to the first vehicle speed v 1 , first rear speed v 2 , vehicle deceleration factor a 1 , the following vehicle deceleration factor a 2and the following vehicle reaction time factor t r Estimating the longitudinal safety distance between the front and rear vehicles generates the first safety distance s s ;

[0061] Specifically including: according to the first vehicle speed v 1 , first rear speed v 2 , vehicle deceleration factor a 1 , the following vehicle deceleration factor a 2 and the following vehicle reaction time factor t r Calculate and generate the first safety distance s s ,

[0062] Here, the meaning of the longitudinal safety distance between the front and rear vehicles is: if the front vehicle is at time t 0 Suddenly with a fixed deceleration (vehicle deceleration factor a 1 ) brakes to a stop, and the following vehicle maintains the current driving state for a certain reaction time (the following vehicle reaction time factor t r ) and then starts to decelerate at a fixed speed (the deceleration factor of the following vehicle is a 2 ) brakes. If the rear vehicle can stop just behind the front vehicle when braking, then at time t 0 The longitudinal distance between the two vehicles is the longitudinal safety distance between the front and rear vehicles;

[0063] Step 52: according to the first spacing s and the first safety distance s s Performing an evaluation to generate a second evaluation result;

[0064] Specifically include: if the first safety distance s s If the first safety distance s is less than or equal to the first safety distance s, the second evaluation result is set to pass. s If it is greater than the first spacing s, the second evaluation result is set to evaluation failure.

[0065] Here, the evaluation strategy based on the longitudinal safety distance evaluation model of the front and rear vehicles in the embodiment of the present invention is: the first safety distance s s If it is less than or equal to the first spacing s, the evaluation passes, otherwise the evaluation fails.

[0066] Step 6: According to the first vehicle speed v 1 , first rear speed v 2 , first distance s, following vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Estimating the longitudinal deceleration of the rear vehicle generates the first longitudinal deceleration a d ; and according to the deceleration factor a of the following vehicle 2 and the first longitudinal deceleration a d Performing an evaluation to generate a third evaluation result;

[0067] Specifically comprising: step 61, according to the first vehicle speed v 1 , first rear speed v 2 , first distance s, following vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Estimating the longitudinal deceleration of the rear vehicle generates the first longitudinal deceleration a d ;

[0068] Specifically including: according to the first vehicle speed v 1 , first rear speed v 2 , first distance s, following vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Calculate the first longitudinal deceleration a d ,

[0069] Here, the meaning of the longitudinal deceleration of the rear vehicle is: the minimum deceleration required for the rear vehicle to decelerate to the same speed as the front vehicle while maintaining a certain safety distance at each moment; the first longitudinal deceleration a d The estimation formula confirmation process is as follows:

[0070] According to the first vehicle speed v 1 , first rear speed v 2 The longitudinal distance s of the following vehicle traveling at a constant speed within the set reaction time 1 To confirm:

[0071] s 1 =t r (v 2 -v 1 );

[0072] According to the first vehicle speed v 1 、Safe time distance between front and rear vehicles t s The safety distance s that should be maintained when the longitudinal speeds of the rear vehicle and the front vehicle are equal 2 To confirm:

[0073] s 2 =t s *v 1 ;

[0074] According to the first spacing s, the longitudinal distance s 1 and safety distance 2 The deceleration distance s when the rear vehicle decelerates from the current longitudinal speed to the same longitudinal speed as the front vehicle 3 To confirm:

[0075] s 3 =ss 1 -s 2;

[0076] With the first vehicle speed v 1 is the target speed, and the first rear speed v 2 is the starting speed, and the deceleration distance s 3 is the total deceleration distance, the deceleration of the rear vehicle from the starting speed to the target speed, that is, the first longitudinal deceleration a d To confirm:

[0077]

[0078] Step 62: according to the deceleration factor a of the following vehicle 2 and the first longitudinal deceleration a d Performing an evaluation to generate a third evaluation result;

[0079] Specifically, if the first longitudinal deceleration a d Less than or equal to the following vehicle deceleration factor a 2 Then set the third evaluation result to pass; if the first longitudinal deceleration a d Greater than the following vehicle deceleration factor a 2 The third evaluation result is set to evaluation failure.

[0080] Here, the evaluation strategy based on the following vehicle longitudinal deceleration evaluation model in the embodiment of the present invention is: the first longitudinal deceleration a d If it is less than or equal to the deceleration factor a of the following vehicle 2 If yes, the evaluation is passed, otherwise, the evaluation is failed.

[0081] Step 7: If the first, second and third evaluation results are all passed, the lane change application is reviewed and approved.

[0082] Figure 2 This is a schematic diagram of the structure of an electronic device provided in the second embodiment of the present invention. The electronic device may be the aforementioned terminal device or server, or may be a terminal device or server connected to the aforementioned terminal device or server to implement the method of the embodiment of the present invention. Figure 2 As shown, the electronic device may include: a processor 301 (such as a CPU), a memory 302, and a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiver 303. Various instructions may be stored in the memory 302 to complete various processing functions and implement the processing steps described in the aforementioned method embodiment. Preferably, the electronic device involved in the embodiment of the present invention also includes: a power supply 304, a system bus 305 and a communication port 306. The system bus 305 is used to realize the communication connection between components. The above-mentioned communication port 306 is used for connecting and communicating between the electronic device and other peripherals.

[0083] exist Figure 2 The system bus 305 mentioned in the figure can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 The term "communication interface" is represented by only one thick line, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM) and may also include non-volatile memory (Non-Volatile Memory), such as at least one disk storage.

[0084] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0085] It should be noted that an embodiment of the present invention further provides a computer-readable storage medium, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the method and processing process provided in the above embodiments.

[0086] An embodiment of the present invention further provides a chip for executing instructions, wherein the chip is used to execute the processing steps described in the aforementioned method embodiment.

[0087] The embodiment of the present invention provides a processing method, electronic device and computer-readable storage medium for evaluating lane change applications; three evaluation methods are provided: collision time evaluation method, longitudinal safety distance evaluation method and longitudinal deceleration evaluation method; each time a lane change application is received, three evaluation results are obtained based on the above three evaluation methods according to the real-time front and rear vehicle speeds and vehicle spacing; if all three evaluation results are passed, it means that the current front and rear vehicle relationship meets the lane change conditions, otherwise it does not meet the conditions; and during the evaluation, the parameters such as the front / rear vehicle deceleration factor, the rear vehicle reaction time factor, and the front and rear vehicle safety time spacing involved in the evaluation can be dynamically adjusted based on factors such as the front and rear vehicle models and the rear vehicle deceleration intention. Through the present invention, the precision of the overall lane change evaluation strategy is improved based on the three types of evaluation models, and the adaptability of the overall lane change evaluation strategy is improved based on the dynamically adjusted evaluation factors.

[0088] The professionals should further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0089] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0090] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for evaluating a lane change application, characterized in that: The method comprises: receiving a lane change request; the lane change request including a lane identification; The first vehicle behind the vehicle on the lane corresponding to the lane mark is regarded as the rear vehicle; the current speed of the vehicle, the speed of the rear vehicle, and the longitudinal distance between the vehicle and the rear vehicle are obtained as the corresponding first vehicle speed v1, the first rear vehicle speed v2, and the first distance s; whether the rear vehicle has a deceleration intention at the current moment is judged to generate a corresponding first judgment result; the model of the rear vehicle is identified to generate the corresponding rear vehicle model; the first judgment result includes yes and no; According to the type of the vehicle, the type of the following vehicle and the first judgment result, the deceleration factor a1 of the vehicle, the deceleration factor a2 of the following vehicle and the reaction time factor t of the following vehicle required for evaluation are determined. r and the safety time distance between the front and rear vehicles t s Set up; The collision time is estimated according to the first vehicle speed v1, the first rear vehicle speed v2 and the first distance s to generate a first collision time t c ; and according to the preset collision time threshold and the first collision time t c Performing an evaluation to generate a first evaluation result; According to the first ego vehicle speed v1, the first rear vehicle speed v2, the ego vehicle deceleration factor a1, the rear vehicle deceleration factor a2 and the rear vehicle reaction time factor t r Estimating the longitudinal safety distance between the front and rear vehicles generates the first safety distance s s ; and according to the first spacing s and the first safety distance s s Performing an evaluation to generate a second evaluation result; According to the first self-vehicle speed v1, the first rear vehicle speed v2, the first distance s, the rear vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Estimating the longitudinal deceleration of the rear vehicle generates the first longitudinal deceleration a d ; and according to the following vehicle deceleration factor a2 and the first longitudinal deceleration a d Performing an evaluation to generate a third evaluation result; If the first, second and third evaluation results are all passed, the lane change application is replied to be approved.

2. The method for evaluating a lane change application according to claim 1, characterized in that: The vehicle model, the rear vehicle model and the first judgment result are used to evaluate the vehicle deceleration factor a1, the rear vehicle deceleration factor a2 and the rear vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Perform the following settings, including: If the vehicle type is a Class I vehicle, set the vehicle deceleration factor a1 to 2.0 m / s 2 If the vehicle type is a Class II vehicle, set the vehicle deceleration factor a1 to 1.0 m / s 2 ; If the following vehicle is a Class I vehicle, set the following vehicle deceleration factor a2 to 2.0 m / s 2 If the following vehicle is a Class II vehicle, set the following vehicle deceleration factor a2 to 1.0 m / s 2 ; If the first judgment result is no and the following vehicle type is a type I vehicle, then the following vehicle reaction time factor t is set r is 1s, and the front and rear vehicle safety time distance t is set s is 1s; if the first judgment result is no and the rear vehicle model is a Class II model, then the rear vehicle reaction time factor t is set r is 2s, and the front and rear vehicle safety time distance t is set s If the first judgment result is yes, then the following vehicle reaction time factor t is set r is 0.3s, and the front and rear vehicle safety time distance t is set s is 0.5s.

3. The method for evaluating a lane change request according to claim 1, characterized in that: The first collision time t is generated by performing collision time estimation according to the first vehicle speed v1, the first rear vehicle speed v2 and the first distance s. c , specifically including: The first collision time t is calculated and generated according to the first vehicle speed v1, the first rear vehicle speed v2 and the first distance s. c , 4. The method for evaluating a lane change request according to claim 1, characterized in that: The preset collision time threshold and the first collision time t c Performing an assessment to generate a first assessment result, specifically including: If the first collision time t c If the first collision time t is greater than or equal to the collision time threshold, the first evaluation result is set as passed. c If the collision time is less than the collision time threshold, the first evaluation result is set as evaluation failure.

5. The method for evaluating a lane change application according to claim 1, characterized in that: The first vehicle speed v1, the first rear vehicle speed v2, the vehicle deceleration factor a1, the rear vehicle deceleration factor a2 and the rear vehicle reaction time factor t r Estimating the longitudinal safety distance between the front and rear vehicles generates the first safety distance s s , specifically including: According to the first ego vehicle speed v1, the first rear vehicle speed v2, the ego vehicle deceleration factor a1, the rear vehicle deceleration factor a2 and the rear vehicle reaction time factor t r Calculate and generate the first safety distance s s , 6. The method for evaluating a lane change request according to claim 1, characterized in that: The first spacing s and the first safety distance s are s The second evaluation result is generated by evaluating, specifically including: If the first safety distance s s If the first safety distance s is less than or equal to the first safety distance s, the second evaluation result is set as passed. s If it is greater than the first spacing s, the second evaluation result is set as evaluation failure.

7. The method for evaluating a lane change request according to claim 1, characterized in that: The first vehicle speed v1, the first rear vehicle speed v2, the first distance s, the rear vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Estimating the longitudinal deceleration of the rear vehicle generates the first longitudinal deceleration a d , specifically including: According to the first self-vehicle speed v1, the first rear vehicle speed v2, the first distance s, the rear vehicle reaction time factor t r and the safety time distance between the front and rear vehicles t s Calculate the first longitudinal deceleration a d , 8. The method for evaluating a lane change request according to claim 1, characterized in that: The following vehicle deceleration factor a2 and the first longitudinal deceleration a d The third evaluation result is generated by evaluating, including: If the first longitudinal deceleration a d If the first longitudinal deceleration a is less than or equal to the following vehicle deceleration factor a2, the third evaluation result is set as passed; if the first longitudinal deceleration a d If the deceleration factor a2 of the following vehicle is greater than the deceleration factor a2 of the following vehicle, the third evaluation result is set as evaluation failure.

9. An electronic device, characterized in that: include: memory, processors, and transceivers; The processor is used to couple with the memory, read and execute instructions in the memory, so as to implement the method steps described in any one of claims 1 to 8; The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which, when executed by a computer, enable the computer to execute the method according to any one of claims 1 to 8.

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