Lane change guidance method, device, equipment and storage medium

Abstract

The embodiments of the present invention disclose a lane change guidance method, device, equipment and storage medium. The specific implementation scheme is as follows: according to the driving intention of the current vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered, determine the recommended lane; obtain the lane information collected in real time by the information collection device of the current vehicle at a preset frequency, and identify the current driving lane of the current vehicle according to the acquired lane information; in the preset guidance area where the current vehicle enters the intersection to be entered, control and guide the current vehicle to change lanes according to the identification result of the current driving lane and the distribution of the recommended lanes. The above method makes it unnecessary to rely on high-precision lane data and lane-level positioning when guiding the corresponding vehicle to change lanes, effectively improves the applicability of the lane change guidance scheme in different driving environments, reduces the cost of guiding the vehicle to change lanes, and helps to enhance the user experience.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of navigation guidance, and in particular, to a lane change guidance method, device, equipment, and storage medium. Background Art

[0002] Currently, lane-level lane change guidance can be provided for vehicles based on high-precision lane data and lane-level positioning. Specifically, the high-precision lane data provides accurate lane markings on the entire road, such as arrow directions, double yellow lines, long solid lines, dotted lines, etc. At the same time, lane-level positioning can provide the lane in which the vehicle is located. Therefore, based on the high-precision lane data and lane-level positioning, it is possible to determine whether the vehicle is in the correct lane and achieve guidance for the vehicle to enter the correct lane.

[0003] However, the above method of performing lane change guidance cannot achieve lane change guidance for vehicles in the case of lack of high-precision lane data and inability to perform lane-level positioning, and the applicability is relatively low. Summary of the Invention

[0004] The present invention provides a lane change guidance method, device, equipment, and storage medium to achieve independence from high-precision lane data and lane-level positioning when guiding a vehicle to change lanes.

[0005] In a first aspect, an embodiment of the present invention provides a lane change guidance method, which includes:

[0006] Determine a recommended lane according to the driving intention of the current vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered;

[0007] Obtain the lane information collected in real time by the information collection device of the current vehicle at a preset frequency, and identify the current driving lane of the current vehicle according to the obtained lane information;

[0008] When the current vehicle enters a preset guidance area of the intersection to be entered, control and guide the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes.

[0009] In a second aspect, an embodiment of the present invention provides a lane change guidance device, which includes:

[0010] A recommended lane determination module, configured to determine a recommended lane according to the driving intention of the current vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered;

[0011] A current driving lane recognition module, configured to obtain the lane information collected in real time by the information collection device of the current vehicle, and identify the current driving lane of the current vehicle according to the obtained lane information;

[0012] A lane change guidance control module, configured to control and guide the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes when the current vehicle enters a preset guidance area of the to-be-entered intersection.

[0013] In a third aspect, an embodiment of the present invention provides an electronic device, which includes:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute any one of the lane change guidance methods provided in the embodiments of the first aspect.

[0017] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions for causing a processor to implement any one of the lane change guidance methods provided in the embodiments of the first aspect when executed.

[0018] In the embodiments of the present invention, the recommended lanes are determined according to the driving intention of the current vehicle at the to-be-entered intersection and the intersection lane data of the to-be-entered intersection; the lane information collected in real time is obtained through the information collection device of the current vehicle at a preset frequency, and the current driving lane of the current vehicle is recognized according to the lane information; when the current vehicle enters the preset guidance area of the to-be-entered intersection, the current vehicle is controlled and guided to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes. The above method enables accurate lane change guidance for corresponding vehicles without relying on high-precision lane data and lane-level positioning, avoiding the situation where accurate lane change guidance cannot be implemented for vehicles in the absence of high-precision lane data and the inability to perform lane-level positioning, thereby effectively improving the applicability of the corresponding lane change guidance scheme in different driving environments, reducing the cost of lane change guidance for vehicles, and enhancing the user experience.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0021] Figure 1 It is a flowchart of a lane change guiding method provided by Embodiment 1 of the present invention;

[0022] Figure 2A It is a flowchart of a lane change guiding method provided by Embodiment 2 of the present invention;

[0023] Figure 2B It is a lane change guiding schematic diagram provided by Embodiment 2 of the present invention;

[0024] Figure 2C It is another lane change guiding schematic diagram provided by Embodiment 2 of the present invention;

[0025] Figure 2D It is another lane change guiding schematic diagram provided by Embodiment 2 of the present invention;

[0026] Figure 2E It is another lane change guiding schematic diagram provided by Embodiment 2 of the present invention;

[0027] Figure 2F It is another lane change guiding schematic diagram provided by Embodiment 2 of the present invention;

[0028] Figure 2G It is another lane change guiding schematic diagram provided by Embodiment 2 of the present invention;

[0029] Figure 2H It is another lane change guiding schematic diagram provided by Embodiment 2 of the present invention;

[0030] Figure 2I It is another lane change guiding schematic diagram provided by Embodiment 2 of the present invention;

[0031] Figure 3A It is a flowchart of a lane change guiding method provided by Embodiment 3 of the present invention;

[0032] Figure 3B It is a lane change guiding schematic diagram provided by Embodiment 3 of the present invention;

[0033] Figure 3C It is another lane change guiding schematic diagram provided by Embodiment 3 of the present invention;

[0034] Figure 3D It is another lane change guiding schematic diagram provided by Embodiment 3 of the present invention;

[0035] Figure 3E It is another lane change guiding schematic diagram provided by the third embodiment of the present invention;

[0036] Figure 3F It is another lane change guiding schematic diagram provided by the third embodiment of the present invention;

[0037] Figure 3G It is another lane change guiding schematic diagram provided by the third embodiment of the present invention;

[0038] Figure 3H It is another lane change guiding schematic diagram provided by the third embodiment of the present invention;

[0039] Figure 3I It is another lane change guiding schematic diagram provided by the third embodiment of the present invention;

[0040] Figure 4A It is a flowchart of a lane change guiding method provided by the fourth embodiment of the present invention;

[0041] Figure 4B It is a lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0042] Figure 4C It is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0043] Figure 4D It is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0044] Figure 4E It is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0045] Figure 4F It is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0046] Figure 4G It is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0047] Figure 4H It is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0048] Figure 4I It is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0049] Figure 4J It is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0050] Figure 4K It is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0051] Figure 4L is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0052] Figure 4M is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0053] Figure 4N is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0054] Figure 4O is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0055] Figure 4P is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0056] Figure 4Q is another lane change guiding schematic diagram provided by the fourth embodiment of the present invention;

[0057] Figure 5 is a structural schematic diagram of a lane change guiding device provided by the fifth embodiment of the present invention;

[0058] Figure 6 is a structural schematic diagram of an electronic device provided by the sixth embodiment of the present invention. Detailed implementation manners

[0059] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0060] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including 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.

[0061] Embodiment 1

[0062] Figure 1 The figure is a flowchart of a lane - changing guidance method provided by Embodiment 1 of the present invention. This embodiment is applicable to the scenario of guiding a vehicle to change lanes without high - precision lane data. This method can be executed by a lane - changing guidance device, which can be implemented in the form of software and / or hardware and can be configured in an electronic device. Refer to Figure 1 As shown, the method specifically includes the following steps:

[0063] S110. Determine a recommended lane according to the driving intention of the current vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered.

[0064] Among them, the intersection to be entered can be the intersection that the current vehicle is about to enter. The intersection to be entered can be one of a cross - shaped intersection, a T - shaped intersection, a Y - shaped intersection, etc. The driving intention can be the driving direction that the current vehicle intends to select at the intersection to be entered, such as going straight, turning left, turning right, or making a U - turn, etc. The driving intention can be obtained based on the navigation information corresponding to the current itinerary of the current vehicle, and the navigation information can be provided by an in - vehicle navigation or a navigation software on a mobile terminal, etc. The intersection lane data can be the data information corresponding to each lane at the intersection, for example, it can include at least one of the number of lanes at the intersection, the type of each lane, and the position of each lane, etc. The type of lane can include at least one of a straight - through lane, a left - turn lane, a right - turn lane, and a U - turn lane, etc. The recommended lane can be the lane recommended that can meet the corresponding driving intention of the current vehicle. Among them, the number of recommended lanes is at least one.

[0065] Specifically, after obtaining the driving intention of the current vehicle based on the corresponding navigation information, the driving intention can be analyzed to determine the driving direction that the current vehicle intends to select at the corresponding intersection to be entered. Based on this driving direction, it can be matched with the intersection lane data of the intersection to be entered; if a lane corresponding to the driving direction is matched, it can be determined that this lane meets the driving intention of the current vehicle. Correspondingly, the lane determined to meet the driving intention of the current vehicle can be used as the recommended lane.

[0066] S120. Acquire the lane information collected in real - time by the information collection device of the current vehicle at a preset frequency, and identify the current driving lane of the current vehicle according to the acquired lane information.

[0067] Among them, the preset frequency may be the frequency at which the preset information collection device collects information. The information collection device may be a device that collects environmental information around the current position of the vehicle in real time, and the environmental information may include at least one of lane information, pedestrian information, surrounding vehicle information, etc. The lane information may include at least one of lane line information, the number of lanes, the position of the lane, and the type of the lane.

[0068] Specifically, an information collection device that can collect lane information in real time during the driving of the current vehicle may be pre-installed on the current vehicle. Based on this information collection device, the lane information around the position where the current vehicle is about to enter the intersection can be identified. Correspondingly, by analyzing the identified lane information, the corresponding position relationship between each lane included in the lane information and the current vehicle can be determined. Correspondingly, based on this position relationship, the current driving lane of the current vehicle can be determined.

[0069] In a specific example, the information collection device may be an image collection device, such as a camera.

[0070] Exemplarily, the current driving lane of the current vehicle can be located by recognizing the road boundary line in the image collected by the image collection device. Among them, the road boundary line can be understood as the outer edge line of the edge lane in a one-way road, or the outer boundary line of the edge lane in the same driving direction in a two-way lane.

[0071] Optionally, the information collection device may be a front camera with a field of view of at least three lane widths. Correspondingly, the lane information may be image information or data information determined based on the image, and the current driving lane can be determined according to this data information. For example, the data information may be lane identification information, etc., and no specific limitation is made here. It can be understood that by setting a front camera with a field of view of at least three lane widths, when lane-level positioning cannot be performed, the lane information around the current vehicle can be intuitively obtained, which helps to avoid the situation where lane-changing guidance for the current vehicle cannot be performed due to the inability to achieve lane-level positioning, and further improves the applicability of the corresponding lane-changing guidance scheme. Further, the front camera can be configured to cover three lanes in the field of view, which reduces the hardware cost of lane-changing guidance to a certain extent.

[0072] Taking the front camera's field of view as three lane widths as an example, at the positions of the second left lane and the first left lane, the current driving lane can be recognized, and at the same time, the increase and decrease of the left lane can be sensed; at the positions of the second right lane and the first right lane, the current driving lane can be recognized, and at the same time, the increase and decrease of the right lane can be sensed.

[0073] S130. When the current vehicle enters the preset guiding area of the intersection to be entered, control and guide the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes.

[0074] Among them, the preset guiding area can be an area that can guide the current vehicle to change lanes preset in advance. The distribution of the recommended lanes can be the positional relationship between each recommended lane and other lanes on the current road. For example, it can be located on both sides of the road, in the middle of the road, or on the same side of the road, etc.

[0075] Specifically, a mapping relationship can be established in advance between the recognition result of the current driving lane, each distribution type corresponding to the distribution of the recommended lanes, and the control strategy for guiding the current vehicle to change lanes. Correspondingly, based on the determined recognition result of the current driving lane and the distribution type corresponding to the distribution of the corresponding recommended lanes, the corresponding control strategy for guiding the current vehicle to change lanes can be matched. Specifically, if the control strategy for guiding the current vehicle to change lanes is matched, the current vehicle is guided to perform the corresponding lane-changing operation; if the control strategy for guiding the current vehicle to change lanes is not matched, the guidance for the current vehicle is rejected. It should be noted that the control strategy for guiding the current vehicle to change lanes can be to guide the current vehicle to change lanes or not to guide the current vehicle to change lanes. Among them, the distribution type can be the type of both sides of the road, which is used to represent that the recommended lanes are distributed on both sides of the road; the distribution type can be the type of one side of the road, which is used to represent that the recommended lanes are distributed on one side of the road; the distribution type can be the type of the middle of the road, which is used to represent that the recommended lanes are distributed in the middle of the road.

[0076] In the embodiment of the present invention, the recommended lanes are determined according to the driving intention of the current vehicle at the intersection to be entered and the lane data of the intersection to be entered; at a preset frequency, the lane information collected in real time is obtained through the information collection device of the current vehicle, and according to this lane information, the current driving lane of the current vehicle is recognized; when the current vehicle enters the preset guiding area of the intersection to be entered, control and guide the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes. The above method enables accurate lane-changing guidance for the corresponding vehicle without relying on high-precision lane data and lane-level positioning, avoiding the situation where accurate lane-changing guidance cannot be implemented for the vehicle when there is a lack of high-precision lane data and lane-level positioning cannot be performed, thereby effectively improving the applicability of the corresponding lane-changing guidance scheme in different driving environments, reducing the cost of lane-changing guidance for the vehicle, and helping to enhance the user experience.

[0077] Embodiment 2

[0078] Figure 2AThe figure is a flowchart of a lane-changing guidance method provided in the second embodiment of the present invention. This embodiment is further optimized based on the above-mentioned embodiments.

[0079] Further, the step of "controlling and guiding the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes" is refined to "if the recommended lanes are distributed on both sides of the road, then according to the recognition result of the current driving lane, select a target lane from the recommended lanes, and guide the current vehicle to change lanes to the target lane", so as to realize the lane-changing guidance for the current vehicle when the recommended lanes are distributed on both sides of the road.

[0080] Refer to Figure 2A As shown, the method specifically includes the following steps:

[0081] S210. Determine the recommended lanes according to the driving intention of the current vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered.

[0082] S220. Obtain the lane information collected in real time by the information collection device of the current vehicle at a preset frequency, and identify the current driving lane of the current vehicle according to the obtained lane information.

[0083] S230. When the current vehicle enters the preset guidance area of the intersection to be entered, if the recommended lanes are distributed on both sides of the road, then according to the recognition result of the current driving lane, select a target lane from the recommended lanes, and guide the current vehicle to change lanes to the target lane.

[0084] Specifically, a mapping relationship between the recognition result of the current driving lane and the target lane can be established in advance when the recommended lanes are distributed on both sides of the road. Correspondingly, based on this mapping relationship, the recognition result of the determined current driving lane can be matched with each recommended lane, and the recommended lane with a successful match is used as the target lane.

[0085] Exemplarily, selecting a target lane from the recommended lanes according to the recognition result of the current driving lane may include: determining the lane-changing direction according to the recognition result of the current driving lane, and selecting the target lane from the recommended lanes on the side of the lane-changing direction.

[0086] Among them, the lane-changing direction may be the direction for guiding the current vehicle to change lanes.

[0087] Specifically, a mapping relationship among the recognition result of the current driving lane, the driving intention, and the lane change direction can be established in advance. Based on this mapping relationship, the corresponding lane change direction can be matched according to the obtained recognition result of the current driving lane. After the corresponding lane change direction is matched, among the recommended lanes on the corresponding lane change direction side, the corresponding recommended lane can be matched as the target lane according to the mapping relationship between the recognition result of the current driving lane and the target lane established in advance.

[0088] It can be understood that by first determining the lane change direction according to the recognition result of the current driving lane and selecting the corresponding target lane from the recommended lanes on the lane change direction side, when selecting the target lane, it is based on the lane change direction corresponding to the recognition result of the current driving lane, and the flexible adjustment of the target lane determination can be carried out based on the recognition result of the current driving lane.

[0089] Exemplarily, if there is one recommended lane on the lane change direction side, the lane on the lane change direction side can be directly used as the target lane. Further, if there are at least two recommended lanes on the lane change direction side, the randomly selected recommended lane, the lane closest to the current driving lane, the lane second closest to the current driving lane, the lane farthest from the current driving lane, or the lane second farthest from the current driving lane can be used as the target lane.

[0090] It should be noted that in order to effectively cope with the situation where the number of lanes on the road decreases and avoid increasing the number of lane changes in the case of lane reduction, in an optional embodiment, if there are at least two recommended lanes on the lane change direction side, selecting the target lane from the recommended lanes on the lane change direction side includes: in the case where there is no lane reduction point, using the recommended lane that is the second farthest from the current driving lane as the target lane; when there is a lane reduction point, using the recommended lane that is the closest to the current driving lane as the target lane.

[0091] Among them, the lane reduction point can be the position point where the number of lanes on the lane change direction side decreases.

[0092] Specifically, if there are at least two recommended lanes on the lane change direction side, the lane reduction point corresponding to the current lane change direction side can be recognized through the lane information collected by the information collection device. Correspondingly, when no corresponding lane reduction point is recognized, the corresponding lane in the recommended lane that is the second farthest from the current driving lane can be used as the target lane; when the corresponding lane reduction point is recognized, the corresponding lane in the recommended lane that is the closest to the current driving lane can be used as the target lane.

[0093] It can be understood that if there are at least two recommended lanes on the lane-changing direction side, by taking the recommended lane that is the second farthest from the current driving lane as the target lane when there is no lane reduction point, and taking the recommended lane that is the closest to the current driving lane as the target lane when there is a lane reduction point, it is possible to avoid the situation where the number of lane changes increases due to the reduction of the number of lanes when choosing a lane that is farther from the current driving lane as the target lane, thereby effectively reducing the number of lane changes during the lane-changing guidance process, and further helping to improve the efficiency of the corresponding lane-changing guidance.

[0094] Exemplarily, determining the lane-changing direction according to the recognition result of the current driving lane includes: when the current driving lane of the current vehicle is not recognized, taking the associated direction of the driving intention as the lane-changing direction; when the current driving lane of the current vehicle is recognized, taking the direction of the recommended lane close to the current vehicle as the lane-changing direction.

[0095] Among them, the associated direction of the driving intention can be determined according to the actual driving intention. If the driving intention at the intersection to be entered is to turn left or right, the associated direction of the driving intention can be understood as the direction consistent with the driving intention; if the driving intention at the intersection to be entered is to make a U-turn, the associated direction of the driving intention can be understood as the direction consistent with the local driving habit. For example, if the driving intention is to make a U-turn and the local driving habit is to drive on the right side, the associated direction of the driving intention is the left side; if the driving intention is to make a U-turn and the local driving habit is to drive on the left side, the associated direction of the driving intention is the right side.

[0096] Specifically, if the current driving lane of the current vehicle is not recognized within the preset guidance area, the driving intention of the current vehicle at the corresponding intersection to be entered can be analyzed to use the driving intention direction as the lane-changing direction for guiding the current vehicle to change lanes; if the current driving lane of the current vehicle can be recognized within the preset guidance area, based on the distance between the current driving lane and each recommended lane, the direction of the recommended lane close to the current vehicle relative to the current driving lane can be used as the corresponding lane-changing direction. It can be understood that by taking the driving intention direction as the lane-changing direction when the current driving lane of the current vehicle is not recognized, it is possible to ensure that the lane-changing direction is consistent with the corresponding driving intention direction, so that the lane-changing direction of the current vehicle more conforms to the current road traffic rules, and further avoids the situation where the number of lane changes increases due to the non-existence of the corresponding recommended lane in the lane-changing direction opposite to the driving intention direction, which helps to improve the efficiency of lane-changing guidance. In addition, by taking the direction of the recommended lane close to the current vehicle as the lane-changing direction when the current driving lane of the current vehicle is recognized, it is possible to effectively reduce the number of lane changes of the current vehicle from the current driving lane to the corresponding recommended lane, which helps to improve the efficiency of the corresponding lane-changing guidance.

[0097] Exemplarily, guiding the current vehicle to the target lane includes: when the current driving lane of the current vehicle is not recognized, guiding the current vehicle to change lanes in the lane change direction; when the current driving lane of the current vehicle is recognized, and when the current driving lane of the current vehicle is inconsistent with the corresponding target lane, guiding the current vehicle to change lanes to the corresponding target lane.

[0098] Specifically, if the current driving lane of the current vehicle is not recognized within the preset guiding area, the associated direction of the driving intention of the current vehicle can be used as the lane change direction, and the current vehicle can be guided to change lanes based on this lane change direction; if the current driving lane of the current vehicle can be recognized within the preset guiding area, it is necessary to determine whether the lane where the current driving lane is located belongs to the same lane as the target lane. Correspondingly, if it is determined that the current driving lane and the target lane do not belong to the same lane, the current vehicle can be guided from the current driving lane to the corresponding target lane; if it is determined that the current driving lane and the target lane belong to the same lane, the current vehicle is kept driving in the current driving lane, and there is no need to guide the current vehicle any further.

[0099] It can be understood that by guiding the current vehicle to change lanes in the determined lane change direction when the current driving lane of the current vehicle is not recognized, it can be ensured that the lane change direction is consistent with the corresponding driving intention direction, so that the lane change direction of the current vehicle more conforms to the current road traffic rules, and further avoids the situation of increased lane change times caused by the absence of a corresponding recommended lane in the lane change direction different from the driving intention direction, which helps to improve the efficiency of lane change guidance. In addition, by guiding the current vehicle to change lanes to the corresponding target lane when the current driving lane of the current vehicle is recognized and the current driving lane of the current vehicle is inconsistent with the corresponding target lane, it can avoid the situation of increased lane change times caused by still guiding the current vehicle to change lanes when the current driving lane and the target lane are consistent, which further helps to improve the efficiency of lane change guidance.

[0100] In the embodiment of the present invention, when the recommended lanes are distributed on both sides of the road, according to the recognition result of the current driving lane, the target lane is selected from the recommended lanes, and the current vehicle is guided to change lanes to the target lane, so that when the recommended lanes are distributed on both sides of the road, during the process of guiding the current vehicle to change lanes, the corresponding target lane can be selected from the recommended lanes distributed on both sides of the road based on the recognition result of the current driving lane, thereby avoiding the situation of more lane change times caused by the determined target lane not being the best target lane due to not considering the current driving lane of the current vehicle, which further helps to reduce the lane change times of the current vehicle and effectively improves the efficiency of the corresponding lane change guidance.

[0101] Hereinafter, taking a front camera with a field of view of three lane widths as an information collection device as an example, the lane change situation when the recommended lanes are on both sides of the road will be described in detail with reference to the accompanying drawings. It should be noted that the number of lanes in the road, the lane change situation, and the number of recommended lanes in the drawings are only for illustrative purposes and should not be construed as specific limitations of the present invention.

[0102] Figure 2B This is a lane change guidance schematic diagram when it starts to be unable to identify the current driving lane and there is no increase or decrease in the number of lanes within the preset guidance area L1. For example Figure 2B As shown, the driving intention direction of the current vehicle is to the left, and the recommended lanes are the leftmost left lane 1 and left lane 2 on the left side of the road, and the right lane 2 on the right side of the road. Due to the camera's field of view, the current driving lane of the current vehicle cannot be identified. At this time, the left side in the same direction as the driving intention direction can be selected as the lane change direction; when the current vehicle can identify the current driving lane by recognizing the road boundary line, the direction of the recommended lane on the left side of the road close to the current driving lane is selected as the lane change direction; since there are two recommended lanes on the lane change direction side, at this time, the recommended lane that is the second farthest from the current driving lane is used as the target lane. Due to the camera's field of view, when the current vehicle changes lanes to the left lane 2, the road boundary line on the left side can be sensed, so the current vehicle can identify that the current driving lane is the left lane 2 and continue to drive along the left lane 2. It can also sense the increase or decrease of the left lane at any time through the change of the road boundary line on the left side. During Figure 2B the driving process on this road, no lane change point is identified, so there is no need to change the target lane during the driving process.

[0103] Figure 2C This is a lane change guidance schematic diagram when it starts to be unable to identify the current driving lane and there is a lane increase within the preset guidance area L1. For example Figure 2C As shown, the recommended lanes are the leftmost left lane 1 and left lane 2 on the left side of the road after the lane increase, and the right lane 2 on the right side of the road, and there is a lane increase within the preset guidance area L1. After the current vehicle enters the L1 range, due to the camera's field of view, the current driving lane cannot be identified. At this time, the left recommended lane 2 that is the second farthest from the current driving lane is selected as the target lane, and lane change guidance is performed on the current vehicle. After the current lane changes to the left lane 2, due to the camera's field of view, the road boundary line on the left side is sensed. At this time, the current vehicle can identify that the current driving lane is the left lane 2. During the driving process on the left lane 2, it is identified that the road boundary line on the left side disappears, that is, the lane increase point on the left side is identified. At this time, the current driving lane changes from the original left lane 2 to the left lane 3, that is, the target lane is not the actual recommended lane. At this time, the new left recommended lane 2 that is the closest to the current driving lane is selected as the target lane, and lane change guidance is performed on the current vehicle again.

[0104] Figure 2D This is a lane change guidance schematic diagram for the start when the current driving lane cannot be recognized and there is a lane addition within the preset guidance area L1. For example Figure 2D As shown, the recommended lanes are the leftmost left one lane and left two lanes on the road after the lane addition, and the right two lane on the right side of the road. There is a lane addition within the preset guidance area L1. After the current vehicle enters the range of L1, due to the camera's field of view, the current driving lane cannot be recognized. At this time, the left two recommended lane, which is the second farthest from the current driving lane, is selected as the target lane, and lane change guidance is performed on the current vehicle until the current vehicle changes lanes to this target lane. When the current vehicle is in the left two lane, due to the camera's field of view, the road boundary line of the leftmost edge lane can be recognized. When the current vehicle changes lanes to the left two lane, it just recognizes that the road boundary line on the left side disappears, that is, it just recognizes the lane addition point of the left lane. At this time, the current driving lane changes from the original left two lane to the left three lane. Therefore, the target lane at this time is not the actual recommended lane. The recommended lanes are the two leftmost lanes on the road after the lane addition. Then, the new left two lane, which is the closest to the current driving lane, can be used as the target lane, and the current vehicle is continuously guided to change lanes to this target lane.

[0105] Figure 2E This is a lane change guidance schematic diagram for the start when the current driving lane cannot be recognized and there is a lane reduction within the preset guidance area L1. For example Figure 2E As shown, the recommended lanes are the leftmost left one lane and left two lanes on the road after the lane reduction, and the right two lane on the right side of the road. There is a lane reduction within the preset guidance area L1. When the current vehicle enters the range of L1, due to the camera's field of view, the current driving lane cannot be recognized. Then, the left two lane on the side of the driving intention direction can be selected as the target lane, and the current vehicle is guided to gradually change lanes to this target lane. When the current vehicle changes lanes to the left two lane, due to the camera's field of view, the road boundary line on the left side can be recognized. Therefore, the current vehicle can recognize that the current driving lane is the left two lane and will continue to drive along the left two lane. During the driving process, it is recognized that the road boundary line of the leftmost edge lane suddenly approaches the current driving lane, that is, it just recognizes the lane reduction point on the left side of the road. At this time, the left two lane where the current vehicle is driving changes to the left one lane. Since the left one lane itself also belongs to the recommended lane, after the current vehicle passes this lane reduction point, the current driving lane remains the target lane, and no lane change guidance is performed on the current vehicle anymore.

[0106] Figure 2F This is a lane change guidance schematic diagram for the start when the current driving lane cannot be recognized and there is a lane reduction within the preset guidance area L1. For example Figure 2FAs shown in the figure, the recommended lanes are the leftmost first and second lanes on the left side of the road after lane reduction, and the second lane on the right side of the road. There is a lane reduction within the preset guiding area L1. When the current vehicle enters the range of L1, due to the camera's field of view, if it cannot recognize the current driving lane, the side of the driving intention direction, that is, the left side, can be taken as the lane-changing direction, and the second lane on the left can be taken as the target lane to gradually guide the current vehicle to change lanes. When the current vehicle changes lanes to the third lane on the left, due to the camera's field of view, it just recognizes the road boundary line on the left side, that is, just recognizes the lane reduction point on the left side of the road. At this time, the current driving lane changes from the third lane on the left to the second lane on the left. Since the current driving lane itself belongs to the recommended lane, the current driving lane can be maintained as the target lane, and there is no need to guide the current vehicle to change lanes anymore.

[0107] Figure 2G It is a schematic diagram of lane-changing guidance when the current driving lane can be recognized for the first time and there is no lane increase or decrease within the preset guiding area L1. For example Figure 2G As shown in the figure, the recommended lanes are the first and second lanes on the leftmost side of the road and the second lane on the right side of the road. When the current vehicle enters the range of L1, due to the camera's field of view, it can recognize the road boundary line on the right side of the road and it is close to the current vehicle, that is, it determines that the current driving lane is the first lane on the right. Therefore, in order to reduce the number of lane changes, the second lane on the right, which is the closest to the current driving lane at this time, can be selected as the target lane, and the current vehicle can be guided to change lanes to this target lane and continue to drive along the second lane on the right. Due to the camera's field of view, during the driving process, it can recognize the road boundary line on the right side of the road, and the increase or decrease of the right lane can be sensed at any time through the change of the road boundary line. During Figure 2G the driving process on this road, no lane change point is recognized. Therefore, there is no need to change the target lane during the driving process, that is, it can continue to drive in the second lane on the right until passing through the intersection to be entered.

[0108] Figure 2H It is a schematic diagram of lane-changing guidance when the current driving lane can be recognized and there is a lane increase within the preset guiding area L1. For example Figure 2H As shown in the figure, the recommended lanes are the first and second lanes on the leftmost side of the road and the second lane on the right side of the road after lane increase. After the current lane changes to the second lane on the right, due to the camera's field of view, it still senses the road boundary line on the right side. During the driving process in the second lane on the right, it is recognized that the road boundary line on the right side disappears, that is, the lane increase point on the right side is recognized. At this time, the current driving lane changes from the original second lane on the right to the third lane on the right, that is, the target lane is not the actual recommended lane. At this time, the new second recommended lane on the right, which is the closest to the current driving lane, is selected as the target lane, and the current vehicle is guided to change lanes again.

[0109] Figure 2IIt is a lane-changing guidance schematic diagram for starting to recognize the current driving lane and having a lane reduction within the preset guidance area L1. For example Figure 2I As shown, the recommended lanes are the leftmost left lane and left lane 2 after the lane reduction, and right lane 2 on the right side of the road. After changing lanes from the current lane to right lane 2, due to the camera's field of view, the road boundary line on the right side is still sensed. During the driving in right lane 2, it is recognized that the road boundary line on the right side suddenly approaches the current driving lane, that is, the lane reduction point on the right side of the road is just recognized. At this time, the current right lane 2 where the vehicle is driving changes to right lane 1, that is, the target lane is not the actual recommended lane. At this time, the new right lane 2 recommended lane closest to the current driving lane is selected as the target lane, and the current vehicle is guided to change lanes again.

[0110] Embodiment III

[0111] Figure 3A It is a flowchart of a lane-changing guidance method provided by Embodiment III of the present invention. This embodiment is further optimized based on the above embodiments.

[0112] Further, "controlling the lane-changing guidance for the current vehicle according to the recognition result of the current driving lane and the distribution of the recommended lanes" is refined to "if the recommended lanes are in the middle of the road, then according to the recognition result of the current driving lane and / or the number of the recommended lanes, control to select a target lane from the recommended lanes; guide the current vehicle to change lanes to the target lane", so as to realize the lane-changing guidance for the current vehicle when the recommended lanes are distributed in the middle of the road.

[0113] Refer to Figure 3A As shown, the method specifically includes the following steps:

[0114] S310. Determine the recommended lanes according to the driving intention of the current vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered.

[0115] S320. Obtain the lane information collected in real time by the information collection device of the current vehicle at a preset frequency, and recognize the current driving lane of the current vehicle according to the obtained lane information.

[0116] S330. When the current vehicle enters the preset guidance area of the intersection to be entered, if the recommended lanes are in the middle of the road, then according to the recognition result of the current driving lane and / or the number of the recommended lanes, control to select a target lane from the recommended lanes.

[0117] Specifically, a mapping relationship between the recognition result of the current driving lane and / or the number of recommended lanes and the corresponding target lanes can be pre-established. Based on the mapping relationship, the recommended lanes can be matched according to the obtained recognition result of the current driving lane and / or the number of recommended lanes, and the lanes in the matched recommended lanes can be used as the corresponding target lanes.

[0118] Exemplarily, according to the recognition result of the current driving lane and / or the number of recommended lanes, the target lane is controlled to be selected from the recommended lanes, including: when the current driving lane of the current vehicle is not recognized, the target lane is prohibited from being selected from the recommended lanes; when the current driving lane of the current vehicle is recognized, according to the number of recommended lanes, the target lane is controlled to be selected from the recommended lanes.

[0119] Specifically, if the current driving lane of the current vehicle is not identified, it indicates that the current driving lane of the current vehicle may be located in the middle of the road, and the increase or decrease of lanes on both sides of the road may cause the lane number of the current driving lane of the current vehicle to change. If the target lane is selected rashly, guidance errors may occur. Therefore, it is possible to prohibit the selection of the target lane from the recommended lanes. If the current driving lane of the current vehicle can be identified, the recommended lane can be matched based on the pre-established mapping relationship between the current driving lane, the number of recommended lanes and the target lane, and the matched recommended lane can be used as the target lane.

[0120] It can be understood that by prohibiting the selection of the target lane from the recommended lanes when the current driving lane of the current vehicle is not identified, the occurrence of guidance errors can be avoided. In addition, when the current driving lane of the current vehicle is identified, the target lane is selected from the recommended lanes according to the number of recommended lanes. In the process of selecting the corresponding target lane, the number of recommended lanes and the current driving lane of the current vehicle can be comprehensively considered, thereby avoiding the increase in the difficulty of lane change guidance or the occurrence of guidance errors caused by arbitrarily determining the target lane, which helps to improve the efficiency and accuracy of the corresponding lane change guidance.

[0121] Figure 3B is a schematic diagram of lane change guidance when the current driving lane cannot be identified at the beginning and there is no lane increase or decrease in the preset guidance area L1. For example Figure 3BAs shown, the number of recommended lanes is 1, and it is the right three lanes in the middle of the road. The current vehicle is in the left three lanes in the middle of the road. Due to the camera's field of view (the width of three lanes), the current vehicle cannot identify the current driving lane, so it will not be able to know how to change lanes from the current driving lane to the recommended lane. At this time, lane change guidance for the current lane is prohibited. Similarly, when the number of recommended lanes is only 1 and it is in a certain lane in the middle, when there are lane increases or decreases in the preset guidance area L1, there will also be a situation where the current driving lane cannot be identified. To avoid a poor guidance experience caused by frequent lane changes, lane change guidance for the current vehicle is prohibited at this time.

[0122] Exemplarily, when identifying the current driving lane of the current vehicle, controlling the selection of a target lane from the recommended lanes according to the number of recommended lanes includes: if the number of recommended lanes is 1, then prohibiting the selection of a target lane from the recommended lanes; if the number of recommended lanes is at least two, then selecting a target lane from the recommended lanes according to the distance between the recommended lanes and the current driving lane.

[0123] Specifically, when it is determined that the number of recommended lanes is 1, if there are lane increases or decreases in the preset guidance area, there is a high probability that the selected target lane will deviate from the actual recommended lane, resulting in a guidance error. Therefore, it is possible to prohibit the selection of a target lane from the recommended lanes again; if the number of recommended lanes is at least two, then based on the positional relationship between the current driving lane and each recommended lane, the distance between the current driving lane and each recommended lane can be determined, and according to the pre-established mapping relationship between the distance between the current driving lane and each recommended lane and the target lane, the recommended lane that can be used as the target lane can be determined.

[0124] It can be understood that by prohibiting the selection of a target lane from the recommended lanes when the number of recommended lanes is 1, the situation of guidance errors can be avoided. In addition, by selecting a target lane from the recommended lanes according to the distance between the recommended lanes and the current driving lane when the number of recommended lanes is at least two, when determining the corresponding target lane, the consideration of the distance between the corresponding recommended lane and the current driving lane is introduced, thus avoiding the situation of an increase in the number of lane changes caused by determining a recommended lane with a relatively long distance as the target lane, and further helping to improve the efficiency of the corresponding lane change guidance.

[0125] Figure 3C It is a schematic diagram of lane change guidance when the current driving lane can be recognized and there is a lane increase in the preset guidance area L1. For example Figure 3CAs shown, the recommended lane is the third left lane in the road after the number of lanes increases. Since when the current vehicle enters the L1 area, due to the camera's field of view (width of three lanes), it can recognize that it is in the leftmost lane, so it can change lanes to the third left lane in sequence. However, after changing lanes to the third left lane, the distance from this lane to both the left and right edge lanes exceeds the camera's field of view, so it is unable to recognize the increase in the left lane. Therefore, it will continue to drive along the current driving lane. When there is an increase in the left lane and the third left lane changes to the fourth left lane, a guiding error will occur. Therefore, when the recommended lane is distributed in the middle of the road and the number is only 1, when there is an increase in the left lane, since the current vehicle has no perception, a guiding error will occur. Therefore, when the recommended lane is distributed in the middle of the road and the number is only 1, lane change guidance is prohibited.

[0126] Exemplarily, if the number of recommended lanes is at least two, then according to the distance between the recommended lane and the current driving lane, a target lane is selected from the recommended lanes, including: if the number of recommended lanes is two, the recommended lane closest to the current driving lane is used as the target lane; if the number of recommended lanes is at least 3, the recommended lane that is the second closest to the current driving lane is used as the target lane.

[0127] Specifically, based on the positional relationship between the current driving lane and each recommended lane, the distance between the current driving lane and each recommended lane can be determined and compared. If the number of recommended lanes is two, the recommended lane closest to the current driving lane can be used as the target lane. If the number of recommended lanes is at least 3, the recommended lane that is the second closest to the current driving lane can be used as the target lane.

[0128] It can be understood that by using the recommended lane closest to the current driving lane as the target lane when the number of recommended lanes is two, it can avoid the occurrence of guiding errors when a lane on one side of the recommended lane decreases and the current vehicle has no perception, and at the same time reduce the number of lane changes. When the number of recommended lanes is at least 3, the recommended lane that is the second closest to the current driving lane is used as the target lane. By selecting the second closest recommended lane, it can effectively improve the guiding accuracy when there are lane increases and decreases on both sides of the road.

[0129] S340. Guide the current vehicle to change lanes to the target lane.

[0130] Specifically, according to the positional relationship between the determined target lane and the current driving lane of the current vehicle, the current vehicle can be guided from the current driving lane to the target lane.

[0131] In an embodiment of the present invention, when the recommended lane is in the middle of the road, according to the recognition result of the current driving lane and / or the number of the recommended lanes, the target lane is controlled to be selected from the recommended lanes, and the current vehicle is guided to change lanes to the target lane, so that when the recommended lanes are distributed in the middle of the road, during the selection process of the target lane, the current driving lane where the current vehicle is located and / or the number of the recommended lanes can be considered, which helps to reduce the number of lane changes during the corresponding lane change guidance process, and is of great significance for improving the efficiency and accuracy of the corresponding lane change guidance operation.

[0132] Hereinafter, taking a front camera with a field of view of three lane widths as the information collection device as an example, in combination with the accompanying drawings, the lane change guidance situation when the recommended lane is in the middle of the road will be described in detail. It should be noted that the number of lanes in the road, the lane change situation, and the number of recommended lanes in the figure are only for illustrative purposes and should not be construed as specific limitations of the present invention.

[0133] Figure 3D It is a lane change guidance schematic diagram for starting to recognize the current driving lane and having no lane addition or subtraction in the preset guidance area L1. For example Figure 3D As shown, the recommended lanes are the two straight lanes in the middle of the road, namely the third left lane and the fourth left lane. When the current vehicle enters the L1 range, due to the camera's field of view, it can be recognized that the current driving lane is the first left lane. At this time, the recommended lane closest to the current driving lane, that is, the third left lane, can be selected as the target lane, and the current vehicle is guided to gradually change lanes from the first left lane to this target lane. After the current vehicle changes lanes to the third left lane, due to the limitation of the camera's field of view, the road boundary line can no longer be recognized, that is, the road change point cannot be detected. Therefore, it will be determined that there is no lane addition or subtraction situation, and the vehicle will continue to drive along the current driving lane.

[0134] Figure 3E It is a lane change guidance schematic diagram for starting to recognize the current driving lane and having lane addition in the preset guidance area L1. For example Figure 3E As shown, the recommended lanes are the third left lane and the fourth left lane of the road after the number of lanes increases, and there is lane addition in the preset guidance area L1. When the current vehicle enters the L1 range, due to the camera's field of view, it can be recognized that the current driving lane is the first left lane. At this time, the third left lane closest to the current driving lane is used as the target lane, and the current vehicle is guided to change to the third left lane. After the current vehicle changes to the third left lane, due to being out of the camera's field of view, the increase or decrease of the number of left lanes cannot be recognized. At this time, the current vehicle continues to drive along the current driving lane, and the current driving lane changes from the original third left lane to the new fourth left lane. Since the fourth left lane also belongs to the recommended lanes, therefore, when the number of recommended lanes is 2, there is lane addition on the left side and the current vehicle has no perception, there will be no misguidance situation.

[0135] Figure 3F It is a lane-changing guidance schematic diagram for starting to recognize the current driving lane and there is a lane reduction within the preset guidance area L1. For example Figure 3F As shown, the recommended lanes are the third and fourth left lanes of the road after the number of lanes decreases, and there is a lane reduction within the preset guidance area L1. When the current vehicle enters the range of L1, due to the camera's field of view, it can recognize that the current driving lane is the second left lane. At this time, the third left lane adjacent to the second left lane is taken as the target lane, and the current vehicle is guided to change lanes to the third left lane. After the vehicle is in the third left lane, due to the camera's field of view, it will not be able to know which lane it is driving in. As the current vehicle continues to drive, the current lane can recognize the road boundary line on the left, that is, the lane reduction point is recognized. At this time, the current vehicle can know that the current driving lane has changed to the second left lane. Since the second left lane is no longer the recommended lane, therefore, the new third left lane after the lane reduction needs to be taken as the target lane, and the current vehicle is guided to change lanes to this new third left lane.

[0136] Figure 3G It is a lane-changing guidance schematic diagram for starting to recognize the current driving lane and there is no lane increase or decrease within the preset guidance area L1. For example Figure 3G As shown, the recommended lanes are the three straight lanes in the middle of the road - the third left lane, the fourth left lane, and the third right lane. When the current vehicle enters the range of L1, due to the camera's field of view, it can recognize that the current driving lane is the first left lane. At this time, the fourth left lane, which is the second closest to the current driving lane, is taken as the target lane, and the current vehicle is gradually guided to change lanes to the fourth left lane. During the lane-changing process, after the current vehicle changes lanes to the third left lane, due to the camera's field of view problem, it will no longer be able to recognize the road boundary line on the left, that is, it cannot know the lane increase or decrease situation. At this time, it will be determined that there is no lane change. Correspondingly, when the current vehicle changes lanes to the fourth left lane, also due to the inability to know the lane increase or decrease situation, it is determined that there is no lane change, and the current vehicle will continue to drive along the fourth left lane until it passes the intersection to be entered.

[0137] Figure 3H It is a lane-changing guidance schematic diagram for starting to recognize the current driving lane and there is a lane increase within the preset guidance area L1. For example Figure 3HAs shown, the recommended lanes are the third left lane, the fourth left lane, the fourth right lane, and the third right lane after the number of lanes increases. There is a lane increase within the preset guiding area L1. When the current vehicle enters the range of L1, due to the camera's field of view, it can identify that the current driving lane is the first left lane. At this time, the fourth left lane, which is the second closest to the current driving lane, is taken as the target lane, and the current vehicle is gradually guided to change lanes to this target lane. During the lane change process, after the current vehicle changes lanes to the third left lane, due to the camera's field of view problem, the road boundary line on the left cannot be identified, that is, the lane increase or decrease situation cannot be identified. At this time, it is determined that there is no lane change. Correspondingly, when the current vehicle changes lanes to the fourth left lane, similarly, since the lane increase or decrease situation cannot be known, it is determined that there is no lane change, and the current vehicle will continue to drive along the fourth left lane. Since the left lanes increase and the current driving lane changes from the fourth left lane to the fifth left lane (the fourth right lane), and the fourth right lane itself belongs to the recommended lanes, there will be no misguidance situation when the left lanes increase and the current vehicle is unaware.

[0138] Figure 3I It is a schematic diagram of lane change guidance when it starts to be able to identify the current driving lane and there is a lane decrease within the preset guiding area L1. For example Figure 3I As shown, the recommended lanes are the third left lane, the fourth left lane, and the third right lane of the road after the number of lanes decreases. There is a lane decrease within the preset guiding area L1. When the current vehicle enters the range of L1, due to the camera's field of view, it can identify that the current driving lane is the second left lane. At this time, the fourth left lane, which is the second closest to itself, is taken as the target lane, and the current vehicle is gradually guided to change lanes to the fourth left lane. During the lane change process, after the current vehicle changes lanes to the third left lane, due to the camera's field of view problem, the increase or decrease situation of the left lanes cannot be identified. At this time, it is determined that there is no lane change. Correspondingly, when the current vehicle changes lanes to the fourth left lane, similarly, since the lane increase or decrease situation cannot be known, it is determined that there is no lane change, and the current vehicle will continue to drive along the fourth left lane. Since the current driving lane changes from the fourth left lane to the third left lane after the left lanes decrease, and the third left lane itself belongs to the recommended lanes, therefore, when the left lanes decrease and the current vehicle is unaware, there will be no misguidance situation.

[0139] Embodiment 4

[0140] Figure 4A It is a flowchart of a lane change guidance method provided by Embodiment 4 of the present invention. This embodiment is further optimized based on the above-mentioned embodiments.

[0141] Further, the step of "controlling the lane change guidance for the current vehicle according to the recognition result of the current driving lane and the distribution of the recommended lanes" is refined to "if the recommended lanes are distributed on the same side of the road, select a target lane from the edge lane on the driving intention side and the adjacent lane of the edge lane on the driving intention side according to the number of the recommended lanes; determine a target guiding point according to the position of the current vehicle and the lane change point; and guide the current vehicle to change lanes to the corresponding target lane according to the recognition result of the current driving lane and the target guiding point", so as to realize the lane change guidance for the current vehicle when the recommended lanes are distributed on the same side of the road.

[0142] Reference Figure 4A As shown in the figure, the method specifically includes the following steps:

[0143] S410. Determine the recommended lanes according to the driving intention of the current vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered.

[0144] S420. Obtain the lane information collected in real time by the information collection device of the current vehicle at a preset frequency, and identify the current driving lane of the current vehicle according to the obtained lane information.

[0145] S430. After the current vehicle enters the preset guiding area of the intersection to be entered, if the recommended lanes are distributed on the same side of the road, select a target lane from the edge lane on the driving intention side and the adjacent lane of the edge lane on the driving intention side according to the number of the recommended lanes.

[0146] Among them, the recommended lanes being distributed on the same side of the road may mean that the corresponding recommended lanes are distributed on the leftmost or rightmost side of the road. The driving intention side may be the driving direction side corresponding to the driving intention. The edge lane may be the lane at the edge of the road.

[0147] Specifically, after the current vehicle enters the preset guiding area of the intersection to be entered, if it is determined that the recommended lanes are distributed on the same side of the road, a mapping relationship between the number of the recommended lanes, the edge lane on the driving intention side, and the adjacent lane of the edge lane on the driving intention side can be established in advance, and according to the determined number of the recommended lanes, each recommended lane can be matched, and the matched recommended lane can be used as the target lane.

[0148] Exemplarily, according to the number of the recommended lanes, a target lane is selected from the recommended lanes and the adjacent lanes of the recommended lanes, including: if the number of the recommended lanes is 1, then according to the guiding stage in which the current vehicle is located, a target lane is selected from the edge lane on the driving intention side and the adjacent lane of the edge lane on the driving intention side; if the number of the recommended lanes is at least two, then the adjacent lane of the recommended lane adjacent to the edge lane on the driving intention side is used as the target lane.

[0149] Specifically, if it is determined that the number of the recommended lanes is 1, then based on the pre-established mapping relationship between different guiding stages, the edge lane on the driving intention side, and the adjacent lane of the edge lane on the driving intention side, according to the guiding stage in which the current vehicle is located, a corresponding lane is matched from the edge lane on the driving intention side and the adjacent lane of the edge lane on the driving intention side as the target lane. If it is determined that the number of the recommended lanes is at least two, then the adjacent lane of the recommended lane adjacent to the edge lane on the driving intention side can be selected as the target lane.

[0150] It can be understood that by, when the number of the recommended lanes is 1, selecting a target lane from the edge lane on the driving intention side and the adjacent lane of the edge lane on the driving intention side according to the guiding stage in which the current vehicle is located; and when the number of the recommended lanes is at least two, using the adjacent lane of the recommended lane adjacent to the edge lane on the driving intention side as the target lane, it is possible to avoid the situation where the current vehicle cannot drive normally due to factors such as road construction or parked vehicles when directly using the edge lane on the driving intention side as the target lane, and at the same time can effectively cope with the situation where the number of lanes changes on the driving intention side, thereby reducing the risk that the current vehicle cannot pass through the intersection to be entered normally, and further improving the success rate of lane change guidance.

[0151] Exemplarily, according to the guiding stage in which the current vehicle is located, a target lane is selected from the edge lane on the driving intention side and the adjacent lane of the edge lane on the driving intention side, including: if the guiding stage in which the current vehicle is located is the first guiding stage, then the adjacent lane of the edge lane on the driving intention side is used as the target lane; if the guiding stage in which the current vehicle is located is the second guiding stage, then the edge lane on the driving intention side is used as the target lane.

[0152] Specifically, when the number of corresponding recommended lanes is 1, the target lane can be determined based on the type of lane-changing guidance stage of the current vehicle. Correspondingly, if it is determined that the lane-changing guidance stage of the current vehicle belongs to the first guidance stage, the adjacent lane of the edge lane on the corresponding driving intention side can be selected as the target lane; if it is determined that the lane-changing guidance stage of the current vehicle belongs to the second guidance stage, the edge lane on the corresponding driving intention side can be further used as the target lane.

[0153] It can be understood that by using the adjacent lane of the edge lane on the driving intention side as the target lane when the guidance stage of the current vehicle is the first guidance stage, and using the edge lane on the driving intention side as the target lane when the guidance stage of the current vehicle is the second guidance stage, it is possible to separately determine the target lanes in different guidance stages, thereby avoiding the situation where the current vehicle cannot drive normally due to construction work or parked vehicles on the edge lane on the driving intention side in both the first and second guidance stages. This reduces the risk that the current vehicle cannot pass through the intersection to be entered normally, and thus improves the success rate of lane-changing guidance. At the same time, it can effectively handle the situation of changes in the number of lanes in the second guidance stage and reduce the number of repeated lane changes.

[0154] S440. Determine a target guidance point according to the position of the current vehicle and the lane change point.

[0155] Among them, the lane change point can be the position point where the number of lanes changes. The target guidance point can be the position point where the current vehicle needs to be guided.

[0156] Specifically, a mapping relationship between the position of the current vehicle, the lane change point, and the target guidance point can be established in advance. Based on this mapping relationship, the corresponding target guidance point can be matched according to the position of the current vehicle and the lane change point identified by the information collection device in the current vehicle.

[0157] Exemplarily, determining the target guidance point according to the position of the current vehicle and the lane change point includes: if the number of recommended lanes is 1, both the position point when the lane change point is recognized and the fixed guidance point in the preset guidance area are used as the target guidance point; if the number of recommended lanes is at least two, both the position point when the lane change point is recognized and the fixed guidance point in the first guidance stage in the preset guidance area are used as the target guidance point.

[0158] Among them, the fixed guidance point can be the position point in the preset guidance area that needs to guide the current vehicle in advance. Different guidance stages can correspond to different fixed guidance points.

[0159] Specifically, when it is determined that the number of recommended lanes is 1, in order to avoid guiding errors, the position point when a lane change point is recognized and the fixed guiding points corresponding to different guiding stages in the preset guiding area should both be used as target guiding points, enabling lane change guiding in a timely manner at different target guiding points. When it is determined that the number of recommended lanes is at least two, since there are more recommended lanes for the current vehicle to drive through the intersection to be entered, it is not necessary to provide excessive guidance in the second guiding stage. Therefore, the position point when a corresponding lane change point is recognized and the fixed guiding points corresponding to the first guiding node in the preset guiding area can both be used as target guiding points to reduce the excessive interruption to the driving user.

[0160] It can be understood that by using the position point when a lane change point is recognized and the fixed guiding points in the preset guiding area as the target guiding points when the number of recommended lanes is 1, and using the position point when a lane change point is recognized and the fixed guiding points in the first guiding stage of the preset guiding area as the target guiding points when the number of recommended lanes is at least two, it is possible to consider separately according to the different numbers of recommended lanes during the determination of target guiding points, enriching the determination mechanism of target guiding points, avoiding the increase in the number of guiding times caused by a single target guiding point determination mechanism, and thus helping to improve the efficiency of the corresponding lane change guiding. At the same time, by reasonably setting the target guiding points in the case of different numbers of recommended lanes, the accuracy of the guiding result and the rationality of the number of guiding times for the driving user are taken into account.

[0161] S450. Guide the current vehicle to change lanes to the corresponding target lane according to the recognition result of the current driving lane and the target guiding point.

[0162] Specifically, a mapping relationship can be established in advance between the recognition result of the current driving lane, the target guiding point, and the guiding strategy for guiding the current lane change to the corresponding target lane. Correspondingly, based on the determined recognition result of the current driving lane and the target guiding point, match the corresponding guiding strategy for guiding the current lane change to the corresponding target lane, and guide the current vehicle based on the matched guiding strategy for guiding the current lane change to the corresponding target lane.

[0163] Exemplarily, guiding the current vehicle to change lanes to the corresponding target lane according to the recognition result of the current driving lane and the target guiding point includes: when the current driving lane of the current vehicle is not recognized, when the current vehicle travels to the corresponding target guiding point, guide the current vehicle to change lanes along the driving intention direction; when the current driving lane of the current vehicle is recognized, when the current vehicle travels to the corresponding target guiding point, in the case where the current driving lane of the current vehicle is inconsistent with the corresponding target lane, guide the current vehicle to change lanes to the corresponding target lane.

[0164] Specifically, if the current driving lane of the current vehicle is not recognized, the corresponding driving intention direction can be used as the direction for guiding the current vehicle. Correspondingly, when the current vehicle travels to the corresponding target guiding point, the current vehicle can be guided to change lanes along the corresponding driving intention direction. If the current driving lane of the current vehicle can be recognized, it can be determined whether the current driving lane of the current vehicle is consistent with the target lane when the current vehicle travels to the target guiding point. Correspondingly, if they are consistent, there is no need to guide the current vehicle to change lanes. If they are not consistent, the current vehicle needs to be guided to change lanes to the corresponding target lane.

[0165] It can be understood that by guiding the current vehicle to change lanes along the driving intention direction when the current driving lane of the current vehicle is not recognized and when the current vehicle travels to the corresponding target guiding point, it is possible to keep the lane-changing guiding direction of the current vehicle at the target guiding point consistent with the corresponding driving intention direction when the current driving lane of the current vehicle is not determined, avoiding the situation of increased lane-changing times that may occur when the current vehicle is guided to change lanes to a lane inconsistent with the driving intention direction, thus helping to improve the efficiency of the corresponding lane-changing guidance. In addition, when the current driving lane of the current vehicle is recognized and when the current vehicle travels to the corresponding target guiding point, in the case where the current driving lane of the current vehicle is inconsistent with the corresponding target lane, the current vehicle is guided to change lanes to the corresponding target lane, avoiding the situation of increased lane-changing times caused by still guiding the current vehicle to change lanes when the current driving lane of the current vehicle is consistent with the target lane, thus helping to improve the efficiency of the corresponding lane-changing guidance.

[0166] In the embodiment of the present invention, when guiding the current vehicle to change lanes when the recommended lanes are distributed on the same side of the road, the influence of the number of recommended lanes on the selection of the corresponding target lane is fully considered, the target guiding point is determined with reference to the position of the current vehicle and the lane change point, and finally, the process of guiding the current vehicle to change lanes to the target lane is guided according to the recognition result of the current lane and the corresponding target guiding point, thus enriching the mechanism for guiding the current vehicle to change lanes, and further avoiding the situation of increased lane-changing times caused by too simple a lane-changing guidance process, which helps to improve the efficiency of the corresponding lane-changing guidance.

[0167] Hereinafter, taking a front camera with a field of view of three lane widths as the information acquisition device as an example, the lane-changing guidance situation when the recommended lanes are on the same side of the road will be described in detail with reference to the accompanying drawings. It should be noted that the number of lanes, the lane change situation, and the number of recommended lanes in the road in the figure are only for illustrative purposes and should not be construed as specific limitations of the present invention.

[0168] First, the lane-changing guidance situation in the case where there is only 1 recommended lane will be described.

[0169] Figure 4B It is a lane-changing guidance schematic diagram where the number of recommended lanes is 1 and there is no lane change within the preset guidance area L1. For example Figure 4B as shown, the recommended lane is the edge lane on the driving intention side - the leftmost lane. When the current vehicle enters the range of L1, due to the camera's field of view, it can recognize that the current driving lane is the second right lane. Therefore, in the first guidance stage (between the starting point of L1 and the starting point of L2), it can select the adjacent lane of the edge lane on the driving intention side, that is, the second left lane as the target lane, and guide the current vehicle to change lanes from the second right lane to the second left lane in sequence. Due to the camera's field of view, when the current vehicle changes lanes to the second left lane, it can sense the road boundary line on the left. Therefore, the current vehicle can recognize that the current driving lane is the second left lane and continue to drive along the second left lane. It can also sense the increase or decrease of the left lane at any time through the change of the road boundary line on the left. When the current vehicle enters the range of L2, that is, enters the second guidance stage (from the starting point of L2 to the intersection to be entered), since the current driving lane is not the actual recommended lane, it can select the edge lane on the driving intention side, that is, the leftmost lane as the target lane, and guide the current vehicle to change lanes from the second left lane to the leftmost lane. During Figure 4B the driving process on the road, no increase or decrease of the left lane is recognized, that is, no lane change point is recognized. Therefore, there is no need for re-guidance at the lane change point.

[0170] Figure 4C It is a lane-changing guidance schematic diagram where the number of recommended lanes is 1 and there is a lane increase inside L1 and outside L2. For example Figure 4CAs shown in the figure, the recommended lane is the edge lane of the road where the number of lanes on the driving intention side has increased - the leftmost lane. There are lane increases both inside L1 and outside L2. During the first guidance stage, when the current vehicle enters the range of L1, due to the camera's field of view problem, the lane increase situation cannot be recognized at the beginning. At this time, the second left lane is used as the corresponding target lane, and the current vehicle is guided to gradually change lanes to this second left lane. When the current vehicle changes lanes to this second left lane, due to the camera's field of view, the road boundary line on the left can be sensed. During the driving process, when it is recognized that the road boundary line on the left disappears, that is, the lane increase point on the left is recognized. At this time, the current driving lane changes from the original second left lane to the third left lane after the number of lanes has increased. At this time, the new second left lane is used as the target lane, guiding the current lane to change lanes to the target lane and continue to drive along the target lane. When entering the second guidance stage, at the starting point of L2, the leftmost lane is used as the target lane, and the current vehicle is continuously guided to change lanes to this leftmost lane and continue to drive along the leftmost lane. Since no change in the road boundary line is recognized during the driving process, there is no road change point within the range of L2, and no lane change guidance is provided to the current vehicle until it passes the intersection to be entered.

[0171] Figure 4D It is a schematic diagram of lane change guidance where the number of recommended lanes is 1 and there is a lane increase only inside L2. For example Figure 4D As shown in the figure, the recommended lane is the edge lane of the road where the number of lanes has increased - the leftmost lane. There is a lane increase only inside L2. During the first guidance stage, when the current vehicle enters the range of L1, due to the camera's field of view problem, the lane increase situation cannot be recognized at the beginning. At this time, the adjacent lane to the left edge lane, that is, the second left lane, is used as the target lane, and the current vehicle is guided to gradually change lanes to this second left lane. When the current vehicle changes lanes to the second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. During the second guidance stage, first at the starting point of L2, the leftmost lane is used as the target lane, and the current vehicle is guided to change lanes to this target lane and continue to drive along the current driving lane. During the driving process, when it is recognized that the road boundary line on the left moves leftward, that is, the lane increase point on the left is recognized. At this time, if the current driving lane changes from the original leftmost lane to the second left lane, it will not conform to the driving intention. Therefore, when the lane increase point is recognized, the new leftmost lane is used as the target lane, guiding the current vehicle to change lanes to this target lane and continue to drive. Since no change in the road boundary line is recognized during the driving process, that is, no new road change point appears, no lane change guidance is provided to the current vehicle until it passes the intersection to be entered.

[0172] Figure 4E It is a schematic diagram of lane change guidance where the number of recommended lanes is 1 and there are lane increases both inside L1 and outside L2 as well as inside L2. For example Figure 4EAs shown, the recommended lane is the leftmost edge lane of the road after the number of lanes increases - the leftmost lane. During the first guidance stage, when the current vehicle enters the L1 range, due to the camera's field of view problem, the increase in the number of lanes cannot be recognized at the beginning. At this time, the adjacent lane to the left edge lane, that is, the second left lane, is used as the target lane, and the current vehicle is gradually guided to change lanes to the second left lane. When the current vehicle changes lanes to the second left lane, the road boundary line on the left can be sensed due to the camera's field of view. During the driving process along the second left lane, when it is recognized that the road boundary line on the left disappears, that is, the lane increase point on the left is recognized, the current driving lane changes from the original second left lane to the third left lane. At this time, the new second left lane is used as the target lane, the current lane is guided to change lanes to the target lane, and the vehicle continues to drive along the target lane. When entering the second guidance stage, at the starting point of L2, the leftmost lane is used as the target lane, and the current vehicle is continuously guided to change lanes to this leftmost lane and continue to drive along the leftmost lane. During the driving process along this leftmost lane, when it is recognized that the road boundary line on the left moves leftward, that is, the lane increase point on the left is recognized, if the current driving lane changes from the original leftmost lane to the second left lane, it will not conform to the driving intention. Therefore, when the lane increase point is recognized, the new leftmost lane is used as the target lane, and the current vehicle is guided to change lanes to this target lane and continue to drive. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is given to the current vehicle until it passes the intersection to be entered.

[0173] Figure 4F Schematic diagram of lane change guidance when the number of recommended lanes is 1 and there is a lane reduction inside L1 and outside L2. For example Figure 4FAs shown, the recommended lane is the leftmost edge lane of the road after the number of lanes is reduced - the leftmost lane. In the first guidance stage, when the current vehicle enters the L1 range, due to the camera's field of view problem, the reduction in the number of vehicles cannot be recognized at the beginning. At this time, the adjacent lane to the left edge lane, that is, the second left lane, is used as the target lane, and the current vehicle is gradually guided to change lanes to this second left lane. When the current vehicle changes lanes to this second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. During the driving process along this second left lane, it is recognized that the road boundary line on the left suddenly approaches the current driving lane, that is, the lane reduction point on the left side of the road is just recognized. At this time, the second left lane where the current vehicle is driving changes to the leftmost lane. Since the leftmost lane is the actual recommended lane, no lane change guidance is given when the lane reduction point is recognized. In the second guidance stage, at the starting point of L2, the current driving lane is the actual recommended lane, and no lane change guidance is given either. The vehicle continues to drive along the leftmost lane. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is given to the current vehicle until it passes the intersection to be entered.

[0174] Figure 4G It is a schematic diagram of lane change guidance when the number of recommended lanes is 1 and there is a lane reduction in L2. For example Figure 4G As shown, the recommended lane is the leftmost edge lane of the road after the number of lanes is reduced - the leftmost lane. In the first guidance stage, when the current vehicle enters the L1 range, due to the camera's field of view problem, the reduction in the number of lanes cannot be recognized at the beginning. At this time, the adjacent lane to the left edge lane, that is, the second left lane, is used as the target lane, and the current vehicle is guided to change lanes to this second left lane. When the current vehicle changes lanes to this second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. Since no road change point is recognized during the driving process, it enters the second guidance stage. At the starting point of L2 in the second guidance stage, the leftmost lane is used as the target lane, and the current vehicle is continuously guided to change lanes to this leftmost lane and continues to drive along the leftmost lane. During the driving process along this leftmost lane, it is recognized that the road boundary line on the left suddenly approaches the current driving lane, that is, the lane reduction point on the left side of the road is just recognized. At this time, the current driving lane will disappear ahead, and the original second left lane will change to the new leftmost lane. Therefore, when the road reduction point is recognized, the new leftmost lane should be used as the target lane, and the target vehicle should be guided to change lanes to this target lane and continue to drive. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is given to the current vehicle until it passes the intersection to be entered.

[0175] Figure 4HIt is a lane-changing guidance schematic diagram with 1 recommended lane, lane reduction in both the area inside L1 and outside L2 and inside L2. For example Figure 4H As shown, the recommended lane is the leftmost edge lane of the road after two lane reductions - the leftmost lane. In the first guidance stage, when the current vehicle enters the L1 range, due to the camera's field of view problem, the situation of lane reduction cannot be recognized at the beginning. At this time, the adjacent lane of the left edge lane, that is, the second left lane, is used as the target lane, and the current vehicle is guided to gradually change lanes to this second left lane. When the current vehicle changes lanes to this second left lane, due to the camera's field of view, it can just sense the road boundary line on the left, that is, it can recognize the lane change point on the left. When changing lanes to the second left lane, it just recognizes that the road boundary line on the left suddenly approaches the current driving lane, that is, it just recognizes the lane reduction point on the left side of the road. At this time, the second left lane where the current vehicle is driving changes to the leftmost lane. Since the leftmost lane is the actual recommended lane, no lane-changing guidance is provided at the lane reduction point. In the second guidance stage, at the starting point of L2, the current driving lane is the actual recommended lane, and no lane-changing guidance is provided either. The vehicle continues to drive along the leftmost lane. During the driving process, it is recognized that the road boundary line suddenly approaches the current driving lane, that is, it just recognizes the lane reduction point on the left side of the road. At this time, the current driving lane will disappear ahead, and the original second left lane will change to the new leftmost lane. Therefore, when the road reduction point is recognized, the new leftmost lane should be used as the target lane, and the target vehicle should be guided to change lanes to this target lane and continue driving. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no further lane-changing guidance is provided for the current vehicle until it passes the intersection to be entered.

[0176] Figure 4I It is a lane-changing guidance schematic diagram with 1 recommended lane, lane increase in the area inside L1 and outside L2, and lane reduction inside L2. For example Figure 4HAs shown, the recommended lane is the leftmost edge lane of the road after two lane changes - the leftmost lane. During the first guidance stage, when the current vehicle enters the L1 range, due to the camera's field of view problem, the lane change situation cannot be recognized at the beginning. At this time, the adjacent lane to the left edge lane, that is, the second left lane, is used as the target lane, and the current vehicle is guided to change lanes to this second left lane. When the current vehicle changes lanes to the second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. During the driving process along this second left lane, it is recognized that the road boundary line on the left disappears, that is, the lane addition point on the left is recognized. At this time, the current driving lane changes from the original second left lane to the third left lane. At this time, the new second left lane is used as the target lane, the current lane is guided to change lanes to the target lane, and the vehicle continues to drive along the target lane. When entering the second guidance stage, at the starting point of L2, the leftmost lane is used as the target lane, and the current vehicle is continuously guided to change lanes to this leftmost lane and continues to drive along the leftmost lane. During the driving process, it is recognized that the road boundary line on the left suddenly approaches the current driving lane, that is, the lane reduction point on the left side of the road is just recognized. At this time, the current driving lane will disappear ahead, and the original second left lane will change to the new leftmost lane. Therefore, when the road reduction point is recognized, the new leftmost lane should be used as the target lane, and the target vehicle is guided to change lanes to this target lane and continue to drive. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is provided for the current vehicle until it passes through the intersection to be entered.

[0177] Figure 4J It is a schematic diagram of lane change guidance when the number of recommended lanes is 1, the lanes decrease inside L1 and outside L2, and the lanes increase inside L2. For example Figure 4JAs shown, the recommended lane is the leftmost edge lane of the road after two lane changes, i.e., the leftmost lane. During the first guidance stage, when the current vehicle enters the L1 range, due to the camera's field of view problem, the change in the number of lanes cannot be recognized at the beginning. At this time, the adjacent lane to the left edge lane, that is, the second left lane, is taken as the target lane, and the current vehicle is gradually guided to change lanes to this second left lane. When the current vehicle changes lanes to the second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. When changing lanes to this second left lane, it is just recognized that the road boundary line on the left suddenly approaches the current driving lane, that is, the lane reduction point on the left side of the road is just recognized. At this time, the second left lane where the current vehicle is driving changes to the leftmost lane. Since the leftmost lane is the actual recommended lane, when the lane reduction point is recognized, the vehicle is no longer guided to change lanes. During the second guidance stage, at the starting point of L2, the current driving lane is the actual recommended lane, and no lane change guidance is made either. The vehicle continues to drive along the leftmost lane. During the driving process, it is recognized that the road boundary line on the left moves to the left, that is, the lane increase point on the left is recognized. At this time, the current driving lane changes from the original leftmost lane to the second left lane after the number of lanes increases. At this time, the new leftmost lane is taken as the target lane, and the current lane is guided to change lanes to the target lane and continue to drive along the target lane. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is made for the current vehicle until it passes the intersection to be entered.

[0178] Next, the lane change guidance situation in the case where the number of recommended lanes is 2 will be described.

[0179] Figure 4K It is a lane change guidance schematic diagram when the number of recommended lanes is at least 2 and there is no lane increase or decrease in the preset guidance area L1. For example Figure 4K As shown, the driving intention side of the current vehicle is the left side, and the recommended lanes are the three left-turn lanes on the leftmost side of the road, i.e., the leftmost lane, the second left lane, and the third left lane. When the current vehicle enters the L1 range, due to the camera's field of view problem, the current driving lane cannot be recognized at the beginning. Since the second left lane is the adjacent lane to the edge lane on the driving intention side, the second left lane can be taken as the target lane, and the current vehicle is guided to gradually change lanes to this target lane. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is made for the current vehicle until it passes the intersection to be entered.

[0180] Figure 4L It is a lane change guidance schematic diagram when the number of recommended lanes is at least 2 and there is a lane increase in the preset guidance area L1. For example Figure 4LAs shown in the figure, the recommended lanes are the three left-turn lanes on the far left of the road after the number of lanes increases, namely the first left lane, the second left lane, and the third left lane. There is an increase in lanes within the preset guiding area L1. When the current vehicle enters the range of L1, due to the camera's field of view problem, the increase in lanes cannot be recognized at the beginning. At this time, the adjacent lane to the left edge lane, that is, the second left lane, is taken as the target lane, and the current vehicle is gradually guided to change lanes to this second left lane. When the current vehicle changes lanes to this second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. When changing lanes to this second left lane, it is just recognized that the road boundary line on the left disappears, that is, the lane increase point on the left is recognized. At this time, the current driving lane changes from the original second left lane to the third left lane. At this time, the new second left lane is taken as the target lane, and the current lane is guided to change lanes to the target lane and continue to drive along the target lane. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is given to the current vehicle until it passes the intersection to be entered.

[0181] Figure 4M It is a schematic diagram of lane change guidance when the number of recommended lanes is at least 2 and there is an increase in lanes within the preset guiding area L1. For example Figure 4M As shown in the figure, the recommended lanes are the three left-turn lanes on the far left of the road after the number of lanes increases, namely the first left lane, the second left lane, and the third left lane. There is an increase in lanes within the preset guiding area L1. When the current vehicle enters the range of L1, due to the camera's field of view problem, the increase in the number of lanes cannot be recognized at the beginning. At this time, the adjacent lane to the left edge lane, that is, the second left lane, is taken as the target lane, and the current vehicle is gradually guided to change lanes to this second left lane. When the current vehicle changes lanes to this second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. During the driving process along this second left lane, it is recognized that the road boundary line on the left disappears, that is, the lane increase point on the left is recognized. At this time, the current driving lane changes from the original second left lane to the third left lane. At this time, the new second left lane is taken as the target lane, and the current lane is guided to change lanes to the target lane and continue to drive along the target lane. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is given to the current vehicle until it passes the intersection to be entered.

[0182] Figure 4N It is a schematic diagram of lane change guidance when the number of recommended lanes is at least 2 and there is a decrease in lanes within the preset guiding area L1. For example Figure 4NAs shown, the recommended lanes are the three leftmost lanes of the road after the number of lanes is reduced - the first left lane, the second left lane, and the third left lane. There is a lane reduction within the preset guiding area L1. When the current vehicle enters the range of L1, due to the camera's field of view problem, the lane reduction cannot be recognized at the beginning. Then, the adjacent lane to the left edge lane, that is, the second left lane, is taken as the target lane, and the current vehicle is guided to change lanes to this second left lane. When the current vehicle is in the second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. After the vehicle changes lanes to the third left lane, the road boundary line on the left is suddenly recognized, that is, the lane reduction point on the left side of the road is just recognized. At this time, the third left lane changes to the second left lane. Since the second left lane belongs to the actual recommended lane, no lane change guidance is given to the current vehicle anymore, and it continues to drive along the current driving lane. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is given to the current vehicle anymore until it passes the intersection to be entered.

[0183] Figure 4O It is a schematic diagram of lane change guidance when the number of recommended lanes is at least 2 and there is a lane reduction within the preset guiding area L1. For example Figure 4O As shown, the recommended lanes are the three leftmost lanes of the road after the number of lanes is reduced - the first left lane, the second left lane, and the third left lane. There is a lane reduction within the preset guiding area L1. When the current vehicle enters the range of L1, due to the camera's field of view problem, the lane reduction cannot be recognized at the beginning. At this time, the adjacent lane to the left edge lane, that is, the second left lane, is taken as the target lane, and the current vehicle is gradually guided to change lanes to this target lane. When the current vehicle changes lanes to the second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. During the driving process along this second left lane, it is recognized that the road boundary line on the left suddenly approaches the current driving lane, that is, the lane reduction point on the left side of the road is just recognized. At this time, the current driving lane will change from the original second left lane to the new first left lane. Since the first left lane itself belongs to the recommended lane, it will continue to drive along the current driving lane, and no lane change guidance is given to the current vehicle anymore. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no lane change guidance is given to the current vehicle anymore until it passes the intersection to be entered.

[0184] Figure 4P It is a schematic diagram of lane change guidance when the number of recommended lanes is at least 2 and the number of lanes within the preset guiding area L1 first increases and then decreases. For example Figure 4PAs shown, the recommended lanes can be the two left-turn lanes on the far left of the road after the number of lanes changes - the first left lane and the second left lane. The number of lanes in the preset guiding area L1 first increases and then decreases. When the current vehicle enters the range of L1, due to the camera's field of view problem, the change in the number of lanes cannot be recognized at the beginning. Then, the adjacent lane to the left edge lane, that is, the second left lane, is taken as the target lane, and the current vehicle is guided to change lanes to the second left lane. When the current vehicle is in the second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. When just changing lanes to the second left lane, it is recognized that the road boundary line on the left disappears, that is, the lane increase point on the left is recognized. At this time, the current driving lane changes from the original second left lane to the third left lane. At this time, the new second left lane is taken as the target lane, the current lane is guided to change lanes to the target lane, and the vehicle continues to drive along the target lane. During the driving process, it is recognized that the road boundary line on the left suddenly approaches the current driving lane, that is, the lane reduction point on the left side of the road is just recognized. At this time, the second left lane where the current vehicle is driving changes to the new first left lane. Since the first left lane itself belongs to the recommended lane, therefore, the vehicle will continue to drive along the current driving lane and no more lane change guidance will be given to the current vehicle. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no more lane change guidance will be given to the current vehicle until it passes the intersection to be entered.

[0185] Figure 4Q The schematic diagram of lane change guidance when the number of recommended lanes is at least 2 and the number of lanes in the preset guiding area L1 first decreases and then increases. For example Figure 4QAs shown in the figure, the recommended lanes can be the two left-turn lanes on the far left of the road after the number of lanes changes, namely the first left lane and the second left lane. The number of lanes in the preset guiding area L1 first decreases and then increases. When the current vehicle enters the range of L1, due to the camera's field of view problem, the change in the lanes cannot be recognized at the beginning. Then, the adjacent lane to the left edge lane can be used as the target lane, and the current vehicle is guided to change lanes to this target lane. When the current vehicle is in the second left lane, due to the camera's field of view, the road boundary line on the left can be sensed, that is, the lane change point on the left can be recognized. After changing lanes to the third left lane, the road boundary line on the left is suddenly recognized, that is, the lane reduction point on the left side of the road is just recognized. At this time, the third left lane changes to the second left lane. At this time, it is determined that this second left lane belongs to the actual recommended lane. Therefore, no more lane change guidance is performed on the current vehicle, and it continues to drive along the current driving lane. During the subsequent driving process, it is recognized that the road boundary line on the left disappears, that is, the lane increase point on the left is recognized. At this time, the current driving lane changes from the original second left lane to the third left lane. At this time, the new second left lane is used as the target lane, and the current vehicle is guided to change lanes to the target lane and continue to drive along the target lane. Since no change in the road boundary line is recognized during the subsequent driving process, that is, no new road change point appears, no more lane change guidance is performed on the current vehicle until it passes through the intersection to be entered.

[0186] Embodiment 5

[0187] Figure 5 The following is a schematic structural diagram of a lane change guiding device provided in Embodiment 5 of the present invention. This embodiment is applicable to the situation of guiding a vehicle to change lanes. The device can be implemented in the form of software and / or hardware and can be configured in an electronic device. Refer to Figure 5 As shown in the figure, the device includes:

[0188] A recommended lane determination module 510, configured to determine a recommended lane according to the driving intention of the current vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered.

[0189] A current driving lane recognition module 520, configured to obtain the lane information collected in real time by the information collection device of the current vehicle, and recognize the current driving lane of the current vehicle according to the obtained lane information.

[0190] A lane change guiding control module 530, configured to control and guide the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes when the current vehicle enters the preset guiding area of the intersection to be entered.

[0191] In an embodiment of the present invention, the recommended lane is determined according to the driving intention of the current vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered; at a preset frequency, the lane information collected in real time is obtained through the information collection device of the current vehicle, and according to the lane information, the current driving lane of the current vehicle is identified; when the current vehicle enters the preset guiding area of the intersection to be entered, according to the recognition result of the current driving lane and the distribution of the recommended lanes, the current vehicle is controlled and guided to change lanes. The above method enables accurate lane-changing guidance for the corresponding vehicle without relying on high-precision lane data and lane-level positioning, avoiding the situation where accurate lane-changing guidance cannot be implemented for the vehicle when high-precision lane data is lacking and lane-level positioning cannot be performed, thereby effectively improving the applicability of the corresponding lane-changing guidance scheme in different driving environments, reducing the cost of lane-changing guidance for the vehicle, and helping to enhance the user experience.

[0192] Optionally, the lane-changing guidance control module 530 may include:

[0193] The first lane-changing guidance unit is configured to, if the recommended lanes are distributed on both sides of the road, select a target lane from the recommended lanes according to the recognition result of the current driving lane, and guide the current vehicle to change lanes to the target lane.

[0194] Optionally, the first lane-changing guidance unit may include:

[0195] The first target lane selection subunit is configured to determine the lane-changing direction according to the recognition result of the current driving lane, and select the target lane from the recommended lanes on the lane-changing direction side.

[0196] Optionally, if there are at least two recommended lanes on the lane-changing direction side, the target lane selection subunit may include:

[0197] The first target lane determination unit is configured to, when there is no lane reduction point, use the recommended lane that is the second farthest from the current driving lane as the target lane;

[0198] The second target lane determination unit is configured to, when there is a lane reduction point, use the recommended lane that is the closest to the current driving lane as the target lane.

[0199] Optionally, the first target lane selection subunit may include:

[0200] The first lane-changing direction determination unit is configured to, when the current driving lane of the current vehicle is not recognized, use the driving intention direction as the lane-changing direction;

[0201] Lane change direction determination second unit, which is used to, when the current driving lane of the current vehicle is recognized, use the direction of the recommended lane close to the current vehicle as the lane change direction.

[0202] Optionally, the lane change guidance first unit may include:

[0203] Lane change guidance first sub-unit, which is used to guide the current vehicle to change lanes along the lane change direction when the current driving lane of the current vehicle is not recognized;

[0204] Lane change guidance second sub-unit, which is used to guide the current vehicle to change lanes to the corresponding target lane when the current driving lane of the current vehicle is recognized and the current driving lane of the current vehicle is inconsistent with the corresponding target lane.

[0205] Optionally, the lane change guidance control module 530 may further include:

[0206] Target lane selection first unit, which is used to, if the recommended lane is in the middle of the road, control the selection of the target lane from the recommended lanes according to the recognition result of the current driving lane and / or the number of the recommended lanes;

[0207] Lane change guidance second unit, which is used to guide the current vehicle to change lanes to the target lane.

[0208] Optionally, the target lane selection first unit may include:

[0209] Target lane selection second sub-unit, which is used to prohibit the selection of the target lane from the recommended lanes when the current driving lane of the current vehicle is not recognized;

[0210] Target lane selection third sub-unit, which is used to control the selection of the target lane from the recommended lanes according to the number of the recommended lanes when the current driving lane of the current vehicle is recognized.

[0211] Optionally, the target lane selection third sub-unit may include:

[0212] Target lane selection first time unit, which is used to, if the number of the recommended lanes is 1, prohibit the selection of the target lane from the recommended lanes;

[0213] Target lane selection second time unit, which is used to, if the number of the recommended lanes is at least two, select the target lane from the recommended lanes according to the distance between the recommended lane and the current driving lane.

[0214] Optionally, the target lane selection second time unit is specifically further used for:

[0215] If the number of the recommended lanes is two, the recommended lane closest to the current driving lane is used as the target lane;

[0216] If the number of the recommended lanes is at least three, the recommended lane second closest to the current driving lane is used as the target lane.

[0217] Optionally, the lane change guiding control module 530 may include:

[0218] A second target lane selection unit, configured to, if the recommended lanes are distributed on the same side of the road, select a target lane from the edge lane on the driving intention side and the lane adjacent to the edge lane on the driving intention side according to the number of the recommended lanes;

[0219] A target guiding point determination unit, configured to determine a target guiding point according to the position of the current vehicle and the lane change point;

[0220] A third lane change guiding unit, configured to guide the current vehicle to change lanes to the corresponding target lane according to the recognition result of the current driving lane and the target guiding point.

[0221] Optionally, the second target lane selection unit may include:

[0222] A fourth sub-unit for target lane selection, configured to, if the number of the recommended lanes is one, select a target lane from the edge lane on the driving intention side and the lane adjacent to the edge lane on the driving intention side according to the guiding stage where the current vehicle is located;

[0223] A fifth sub-unit for target lane selection, configured to, if the number of the recommended lanes is at least two, use the lane adjacent to the edge lane on the driving intention side in the recommended lanes as the target lane.

[0224] Optionally, the fourth sub-unit for target lane selection may include:

[0225] A third unit for target lane selection, configured to, if the guiding stage where the current vehicle is located is the first guiding stage, use the lane adjacent to the edge lane on the driving intention side as the target lane;

[0226] A fourth unit for target lane selection, configured to, if the guiding stage where the current vehicle is located is the second guiding stage, use the edge lane on the driving intention side as the target lane.

[0227] Optionally, the target guiding point determination unit may include:

[0228] The target guiding point determination first sub-unit is configured to, if the number of recommended lanes is 1, use both the position point when the lane change point is recognized and the fixed guiding point in the preset guiding area as the target guiding point;

[0229] The target guiding point determination second sub-unit, if the number of recommended lanes is at least two, uses both the position point when the lane change point is recognized and the fixed guiding point in the first guiding stage of the preset guiding area as the target guiding point.

[0230] Optionally, the lane change guiding third unit may include:

[0231] The lane change guiding third sub-unit is configured to, when the current driving lane of the current vehicle is not recognized, when the current vehicle travels to the corresponding target guiding point, guide the current vehicle to change lanes along the driving intention direction;

[0232] The lane change guiding fourth sub-unit is configured to, when the current driving lane of the current vehicle is recognized, when the current vehicle travels to the corresponding target guiding point, in the case where the current driving lane of the current vehicle is inconsistent with the corresponding target lane, guide the current vehicle to change lanes to the corresponding target lane.

[0233] Optionally, the information collection device is a front camera with a field of view of at least three lane widths.

[0234] The lane change guiding device provided by the embodiments of the present invention can execute any one of the lane change guiding methods provided by the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing each lane change guiding method. The content not described in detail in the embodiments of the present invention can be referred to the description in any one of the lane change guiding methods of the embodiments of the present invention.

[0235] Embodiment Six

[0236] Figure 6 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0237] As Figure 6As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0238] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0239] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the lane change guiding method.

[0240] In some embodiments, the lane change guiding method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the lane change guiding method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the lane change guiding method by any other appropriate means (e.g., by means of firmware).

[0241] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0242] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0243] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0244] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0245] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0246] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0247] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0248] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A lane change guidance method, characterized in that: include: Determining a recommended lane according to the current driving intention of the vehicle at the intersection to be entered and the lane data of the intersection to be entered; Acquiring lane information collected in real time by an information collection device of the current vehicle at a preset frequency, and identifying a current driving lane of the current vehicle based on the acquired lane information; In a preset guidance area where the current vehicle enters the intersection to be entered, controlling and guiding the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes; The controlling of guiding the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes includes: If the recommended lanes are distributed on the same side of the road, a target lane is selected from the edge lane on the driving intention side and the adjacent lanes of the edge lane on the driving intention side according to the number of the recommended lanes; Determining a target guidance point according to the current vehicle position and the lane change point; According to the recognition result of the current driving lane and the target guidance point, the current vehicle is guided to change lanes to the corresponding target lane.

2. The method according to claim 1, characterized in that The controlling and guiding the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes includes: If the recommended lanes are distributed on both sides of the road, a target lane is selected from the recommended lanes according to the recognition result of the current driving lane, and the current vehicle is guided to change lanes to the target lane.

3. The method according to claim 2, characterized in that The selecting a target lane from the recommended lanes according to the recognition result of the current driving lane includes: According to the recognition result of the current driving lane, the lane change direction is determined, and the target lane is selected from the recommended lanes on the side of the lane change direction.

4. The method according to claim 3, characterized in that If there are at least two recommended lanes on the lane changing direction side, selecting the target lane from the recommended lanes on the lane changing direction side includes: In the case where no lane reduction point occurs, the recommended lane that is second farthest from the current driving lane is used as the target lane; When a lane reduction point appears, the recommended lane closest to the current driving lane is used as the target lane.

5. The method according to claim 3, characterized in that: The determining of the lane change direction according to the recognition result of the current driving lane includes: When the current driving lane of the current vehicle is not identified, taking the associated direction of the driving intention as the lane change direction; When the current driving lane of the current vehicle is identified, a direction of a recommended lane close to the current vehicle is used as the lane change direction.

6. The method according to claim 5, characterized in that The guiding the current vehicle to the target lane comprises: When the current driving lane of the current vehicle is not identified, guiding the current vehicle to change lanes along the lane changing direction; When the current driving lane of the current vehicle is identified, in a case where the current driving lane of the current vehicle is inconsistent with the corresponding target lane, the current vehicle is guided to change lanes to the corresponding target lane.

7. The method according to claim 1, characterized in that The controlling of guiding the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes includes: If the recommended lane is in the middle of the road, then according to the recognition result of the current driving lane and / or the number of the recommended lanes, control the selection of the target lane from the recommended lanes; The current vehicle is guided to change lanes to the target lane.

8. The method according to claim 7, characterized in that The controlling the selection of a target lane from the recommended lanes according to the recognition result of the current driving lane and / or the number of the recommended lanes includes: When the current driving lane of the current vehicle is not identified, it is prohibited to select a target lane from the recommended lanes; When the current driving lane of the current vehicle is identified, the target lane is selected from the recommended lanes according to the number of recommended lanes.

9. The method according to claim 8, characterized in that When the current driving lane of the current vehicle is identified, the controlling of selecting a target lane from the recommended lanes according to the number of recommended lanes includes: If the number of recommended lanes is 1, it is prohibited to select a target lane from the recommended lanes; If the number of recommended lanes is at least two, a target lane is selected from the recommended lanes according to a distance between the recommended lanes and the current driving lane.

10. The method according to claim 9, characterized in that If the number of the recommended lanes is at least two, selecting a target lane from the recommended lanes according to the distance between the recommended lanes and the current driving lane includes: If the number of the recommended lanes is two, the recommended lane closest to the current driving lane is used as the target lane; If the number of the recommended lanes is at least 3, the recommended lane that is next closest to the current driving lane is used as the target lane.

11. The method according to claim 1, characterized in that: The selecting, according to the number of the recommended lanes, a target lane from the recommended lanes and lanes adjacent to the recommended lanes comprises: If the number of the recommended lanes is 1, a target lane is selected from an edge lane on the driving intention side and an adjacent lane to the edge lane on the driving intention side according to the guidance stage of the current vehicle; If the number of the recommended lanes is at least two, a lane adjacent to the edge lane on the driving intention side among the recommended lanes is used as a target lane.

12. The method according to claim 11, characterized in that The selecting, according to the guidance stage of the current vehicle, a target lane from an edge lane on the driving intention side and an adjacent lane to the edge lane on the driving intention side comprises: If the guidance stage of the current vehicle is the first guidance stage, the adjacent lane of the edge lane on the driving intention side is used as the target lane; If the current guidance stage of the vehicle is the second guidance stage, the edge lane on the driving intention side is used as the target lane.

13. The method according to claim 1, characterized in that Determining a target guidance point according to the current vehicle position and the lane change point includes: If the number of the recommended lanes is 1, the position point when the lane change point is identified and the fixed guidance point in the preset guidance area are both used as the target guidance point; If the number of the recommended lanes is at least two, the position point when the lane change point is identified and the fixed guidance point of the first guidance stage in the preset guidance area are both used as the target guidance point.

14. The method according to claim 1, characterized in that The step of guiding the current vehicle to change lanes to a corresponding target lane according to the recognition result of the current driving lane and the target guidance point includes: When the current driving lane of the current vehicle is not identified, when the current vehicle drives to the corresponding target guidance point, guiding the current vehicle to change lanes along the driving intention direction; When the current driving lane of the current vehicle is identified, when the current vehicle travels to the corresponding target guidance point, in a case where the current driving lane of the current vehicle is inconsistent with the corresponding target lane, the current vehicle is guided to change lanes to the corresponding target lane.

15. The method according to any one of claims 1 to 14, characterized in that: The information collection device is a front camera with a field of view of at least three lanes width.

16. A lane change guidance device, characterized in that: include: A recommended lane determination module, used to determine a recommended lane according to the current driving intention of the vehicle at the intersection to be entered and the intersection lane data of the intersection to be entered; A current driving lane recognition module, used to obtain lane information collected in real time by the information collection device of the current vehicle, and identify the current driving lane of the current vehicle according to the acquired lane information; A lane change guidance control module, used for controlling and guiding the current vehicle to change lanes according to the recognition result of the current driving lane and the distribution of the recommended lanes when the current vehicle enters the preset guidance area of ​​the intersection to be entered; The lane change guidance control module includes: a second target lane selection unit, for selecting a target lane from an edge lane on the driving intention side and an adjacent lane to the edge lane on the driving intention side according to the number of the recommended lanes if the recommended lanes are distributed on the same side of the road; A target guidance point determination unit, configured to determine a target guidance point according to the current vehicle position and the lane change point; The lane change guidance third unit is used to guide the current vehicle to change lanes to a corresponding target lane according to the recognition result of the current driving lane and the target guidance point.

17. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the lane change guidance method according to any one of claims 1 to 15.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the lane change guidance method according to any one of claims 1 to 15 when executed.

Images