Lane change strategy determination method, vehicle control method, system, device and medium

Abstract

The present application provides a lane change strategy determination method, a vehicle control method, a system, a device and a medium. The lane change strategy determination method includes obtaining environmental image information of a vehicle to be controlled in response to a lane change cancellation instruction, confirming, based on the environmental image information, an angle between a front of the vehicle to be controlled and a lane centerline, a first relative position relationship between a rear axle center point of the vehicle to be controlled and the lane centerline, and a second relative position relationship between a whole vehicle center point of the vehicle to be controlled and the lane centerline, comparing the angle with a preset angle threshold to obtain a comparison result, determining a lane change strategy for the vehicle to be controlled based on the comparison result, the first relative position relationship and the second relative position relationship, and driving based on the determined lane change strategy, thereby improving safety, driving experience and comfort.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and specifically to a lane change strategy determination method, a vehicle control method, system, equipment and medium. Background Art

[0002] During the process of autonomous driving, lane changing in lateral control is one of the most common scenarios, and accidents often occur during the process of lateral lane changing. There are usually two major pain points in the lane changing scenario of autonomous driving: after the system initiates the lane change command, the vehicle is in the line-crossing stage, and the driver intervenes in the lane change (such as turning the steering lever in the opposite direction). The system usually follows the driver's wishes. If the vehicle body has mostly crossed the lane line at this time, returning to the original lane will cause physical discomfort and create the risk of lateral collision.

[0003] Related technologies have proposed time standards for triggering lane changes and the entire process of lane changes, but due to complex traffic flows and multilateral driving environments, the system cannot guarantee that lane changes can be successfully made every time. If the target lane meets the lane change conditions when the controlled vehicle starts to change lanes, but the target lane does not meet the lane change conditions during the lane change, the controlled vehicle should be able to withdraw the lane change and retreat to the original lane to wait for the next lane change opportunity. In summary, a lane change method is urgently needed to enable the controlled vehicle to retreat to the original lane if the target lane does not meet the lane change conditions during the lane change process, so as to improve safety, driving experience and comfort. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a lane change strategy determination method, a vehicle control method, a system, a device and a medium to improve safety, driving experience and comfort.

[0005] To achieve the above-mentioned invention object, in a first aspect, the present application provides a lane change strategy determination method, the lane change strategy determination method comprising:

[0006] In response to the lane change cancellation instruction, acquiring environmental image information of the vehicle to be controlled;

[0007] According to the environmental image information, confirm the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the whole vehicle of the vehicle to be controlled and the center line of the lane, wherein the center line of the lane refers to the center line between the initial lane and the target lane of the vehicle to be controlled, the first relative position relationship includes the center point of the rear axle not crossing the center line of the lane and the center point of the rear axle crossing the center line of the lane, and the second relative position relationship includes the center point of the whole vehicle not crossing the center line of the lane and the center point of the whole vehicle crossing the center line of the lane;

[0008] Comparing the included angle with a preset angle threshold to obtain a comparison result;

[0009] A lane changing strategy for the vehicle to be controlled is determined according to the comparison result, the first relative position relationship, and the second relative position relationship.

[0010] In an exemplary embodiment of the present application, determining a lane change strategy of a vehicle to be controlled includes:

[0011] If the angle is less than or equal to a preset angle threshold, a lane changing strategy for the vehicle to be controlled is determined according to the first relative position relationship.

[0012] In an exemplary embodiment of the present application, determining a lane change strategy of a vehicle to be controlled includes:

[0013] If the angle is less than or equal to a preset angle threshold, and the first relative position relationship is that the center point of the rear axle does not cross the center line of the lane, a first lane change strategy is implemented, and the first lane change strategy includes canceling the lane change and returning to the initial lane of the vehicle to be controlled;

[0014] If the angle is less than or equal to a preset angle threshold, and the first relative position relationship is that the center point of the rear axle crosses the center line of the lane, a second lane change strategy is implemented, and the second lane change strategy includes continuing to change lanes to the target lane.

[0015] In an exemplary embodiment of the present application, determining a lane change strategy for a vehicle to be controlled further includes:

[0016] If the included angle is greater than a preset angle threshold, a lane change strategy for the vehicle to be controlled is determined according to the second relative position relationship.

[0017] In an exemplary embodiment of the present application, determining a lane change strategy of the vehicle to be controlled according to the second relative position relationship includes:

[0018] If the angle is greater than a preset angle threshold, and the second relative position relationship is that the center point of the vehicle does not cross the center line of the lane, a third lane change strategy is implemented, and the third lane change strategy includes canceling the lane change and returning to the initial lane of the vehicle to be controlled;

[0019] If the angle is greater than a preset angle threshold and the second relative position relationship is that the center point of the vehicle crosses the center line of the lane, a fourth lane changing strategy is implemented, and the fourth lane changing strategy includes continuing to change lanes to the target lane.

[0020] In a second aspect, the present application provides a vehicle control method, the vehicle control method comprising:

[0021] In response to the lane change cancellation instruction, acquiring environmental image information of the vehicle to be controlled;

[0022] According to the environmental image information, confirm the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the whole vehicle of the vehicle to be controlled and the center line of the lane, wherein the center line of the lane refers to the center line between the initial lane and the target lane of the vehicle to be controlled, the first relative position relationship includes the center point of the rear axle not crossing the center line of the lane and the center point of the rear axle crossing the center line of the lane, and the second relative position relationship includes the center point of the whole vehicle not crossing the center line of the lane and the center point of the whole vehicle crossing the center line of the lane;

[0023] Comparing the included angle with a preset angle threshold to obtain a comparison result;

[0024] determining a lane changing strategy of the vehicle to be controlled according to the comparison result, the first relative position relationship, and the second relative position relationship;

[0025] The vehicle to be controlled is controlled to travel according to the lane changing strategy.

[0026] In a third aspect, the present application provides a lane change strategy system, the lane change strategy system comprising:

[0027] A collection module, in response to the lane change cancellation instruction, for acquiring environmental image information of the vehicle to be controlled;

[0028] A first determination module is used to confirm, based on the environmental image information, an angle between the front of the vehicle to be controlled and the center line of the lane, a first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and a second relative position relationship between the center point of the whole vehicle of the vehicle to be controlled and the center line of the lane, wherein the center line of the lane refers to the center line between the initial lane and the target lane of the vehicle to be controlled, the first relative position relationship includes the center point of the rear axle not crossing the center line of the lane and the center point of the rear axle crossing the center line of the lane, and the second relative position relationship includes the center point of the whole vehicle not crossing the center line of the lane and the center point of the whole vehicle crossing the center line of the lane;

[0029] A comparison module, used for comparing the angle with a preset angle threshold to obtain a comparison result;

[0030] The second determination module is used to determine the lane change strategy of the vehicle to be controlled according to the comparison result, the first relative position relationship and the second relative position relationship.

[0031] In a fourth aspect, the present application provides a vehicle control system, the vehicle control system comprising:

[0032] A collection module, in response to the lane change cancellation instruction, for acquiring environmental image information of the vehicle to be controlled;

[0033] A first determination module is used to confirm, based on the environmental image information, an angle between the front of the vehicle to be controlled and the center line of the lane, a first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and a second relative position relationship between the center point of the whole vehicle of the vehicle to be controlled and the center line of the lane, wherein the center line of the lane refers to the center line between the initial lane and the target lane of the vehicle to be controlled, the first relative position relationship includes the center point of the rear axle not crossing the center line of the lane and the center point of the rear axle crossing the center line of the lane, and the second relative position relationship includes the center point of the whole vehicle not crossing the center line of the lane and the center point of the whole vehicle crossing the center line of the lane;

[0034] A comparison module, used for comparing the angle with a preset angle threshold to obtain a comparison result;

[0035] a second determination module, configured to determine a lane change strategy of the vehicle to be controlled according to the comparison result, the first relative position relationship, and the second relative position relationship;

[0036] The control module is used to control the vehicle to be controlled to drive according to the lane changing strategy.

[0037] In another aspect, the present application further provides an electronic device, the electronic device comprising:

[0038] one or more processors;

[0039] The storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the method as described above.

[0040] In another aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor of a computer, the computer is enabled to execute the method as described above.

[0041] Beneficial effects of the present invention:

[0042] The present application obtains environmental image information of the vehicle to be controlled, and confirms, based on the environmental image information, the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the entire vehicle to be controlled and the center line of the lane, compares the angle with a preset angle threshold to obtain a comparison result, and determines the lane change strategy of the vehicle to be controlled based on the comparison result, the first relative position relationship, and the second relative position relationship, and drives based on the determined lane change strategy, which can improve safety, driving experience, and comfort.

[0043] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0045] Figure 1 A flowchart of a lane change strategy determination method shown as an exemplary embodiment of the present application;

[0046] Figure 2 for Figure 1 A flowchart of determining a lane change strategy for a vehicle to be controlled in step S140 in an exemplary embodiment in the illustrated embodiment;

[0047] Figure 3 for Figure 2 A flowchart of determining a lane change strategy for a vehicle to be controlled in step S210 in an exemplary embodiment in the illustrated embodiment;

[0048] Figure 4 A flowchart of a lane change strategy determination method shown as another exemplary embodiment of the present application;

[0049] Figure 5 for Figure 4 In the illustrated embodiment, a flowchart of determining a lane change strategy for a vehicle to be controlled according to the second relative position relationship in step S450 in an exemplary embodiment;

[0050] Figure 6 A flow chart of a vehicle control method shown as an exemplary embodiment of the present application;

[0051] Figure 7 A flow chart of a vehicle control method shown in a specific embodiment;

[0052] Figure 8 for Figure 7 A schematic diagram of a scenario in which a lane change instruction can be withdrawn in a high-speed and small-angle state in the embodiment shown;

[0053] Fig. 9 for Figure 7 A schematic diagram of a scenario in which a lane change instruction cannot be withdrawn in a high-speed and small-angle state in the embodiment shown;

[0054] Fig.10 for Figure 7 A schematic diagram of a scenario in which a lane change command can be withdrawn in a low speed and large turning angle state in the illustrated embodiment;

[0055] Fig.11 for Figure 7 A schematic diagram of a scenario in which a lane change command cannot be withdrawn in a low speed and large turning angle state in the embodiment shown;

[0056] Fig.12 A block diagram of a lane change strategy determination system shown as an exemplary embodiment of the present application;

[0057] Fig.13 A block diagram of a vehicle control system shown as an exemplary embodiment of the present application;

[0058] Fig.14 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0059] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0060] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0061] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0062] See also Figure 1 , Figure 1 The present invention is a flowchart of a lane change strategy determination method shown as an exemplary embodiment of the present application. The lane change strategy determination method is applied in the process of automatic driving. For example, when the vehicle to be controlled starts to change lanes, the target lane meets the lane change conditions, but the target lane does not meet the lane change conditions during the lane change process. At this time, the driver issues a lane change cancellation command. The lane change strategy determination method is applied to this scenario to determine whether the vehicle to be controlled continues to execute the lane change command or returns to the original lane, thereby improving driving safety.

[0063] like Figure 1 As shown, in an exemplary embodiment of the present application, the lane change strategy determination method includes at least step S110, step S120, step S130 and step S140, which are described in detail as follows:

[0064] Step S110. In response to the lane change cancellation instruction, obtaining environmental image information of the vehicle to be controlled;

[0065] Step S120. According to the environmental image information, confirm the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the whole vehicle to be controlled and the center line of the lane;

[0066] It should be noted that, in this application, the lane centerline refers to the centerline between the initial lane of the vehicle to be controlled and the target lane. The first relative position relationship includes the center point of the rear axle not crossing the lane centerline and the center point of the rear axle crossing the lane centerline, wherein the center point of the rear axle crossing the lane centerline includes the center point of the rear axle being on the lane centerline. The second relative position relationship includes the center point of the entire vehicle not crossing the lane centerline and the center point of the entire vehicle crossing the lane centerline, wherein the center point of the entire vehicle crossing the lane centerline includes the center point of the entire vehicle being on the lane centerline.

[0067] Step S130. Compare the included angle with a preset angle threshold to obtain a comparison result;

[0068] Step S140: Determine a lane change strategy for the vehicle to be controlled based on the comparison result, the first relative position relationship, and the second relative position relationship.

[0069] See also Figure 2 , Figure 2 for Figure 1 The illustrated embodiment is a flow chart of determining the lane change strategy of the vehicle to be controlled in step S140 in an exemplary embodiment.

[0070] like Figure 2 As shown, in an exemplary embodiment of the present application, Figure 1 In the illustrated embodiment, the process of determining the lane change strategy of the vehicle to be controlled in step S140 includes step S210, which is described in detail as follows:

[0071] Step S210: If the included angle is less than or equal to the preset angle threshold, determine the lane change strategy of the vehicle to be controlled according to the first relative position relationship.

[0072] See also Figure 3 , Figure 3 for Figure 2 The illustrated embodiment is a flow chart of determining the lane change strategy of the vehicle to be controlled in step S210 in an exemplary embodiment.

[0073] like Figure 3 As shown, in an exemplary embodiment of the present application, Figure 2 In the illustrated embodiment, the process of determining the lane change strategy of the vehicle to be controlled in step S210 includes steps S310 and S320, which are described in detail as follows:

[0074] Step S310: If the angle is less than or equal to the preset angle threshold, and the first relative position relationship is that the center point of the rear axle does not cross the center line of the lane, then implement the first lane change strategy;

[0075] The preset angle threshold can be set by yourself and will not be described here.

[0076] The first lane change strategy includes canceling the lane change and returning to the initial lane of the vehicle to be controlled;

[0077] Step S320: If the included angle is less than or equal to the preset angle threshold, and the first relative position relationship is that the center point of the rear axle crosses the center line of the lane, the second lane change strategy is implemented.

[0078] The second lane change strategy includes continuing to change lanes toward the target lane.

[0079] See also Figure 4 , Figure 4 The flowchart of a lane change strategy determination method is shown as another exemplary embodiment of the present application.

[0080] like Figure 4 As shown, in another exemplary embodiment of the present application, determining the lane change strategy of the vehicle to be controlled further includes step S440, which is described in detail as follows:

[0081] Step S440: If the included angle is greater than the preset angle threshold, determine the lane change strategy of the vehicle to be controlled according to the second relative position relationship.

[0082] See also Figure 5 , Figure 5 for Figure 4 The illustrated embodiment is a flow chart of determining the lane change strategy of the vehicle to be controlled according to the second relative position relationship in step S450 in an exemplary embodiment.

[0083] like Figure 5 As shown, in an exemplary embodiment of the present application, Figure 4 In the illustrated embodiment, the process of determining the lane change strategy of the vehicle to be controlled according to the second relative position relationship in step S450 includes steps S510 and S520, which are described in detail as follows:

[0084] Step S510: If the angle is greater than the preset angle threshold, and the second relative position relationship is that the center point of the vehicle does not cross the center line of the lane, then implement the third lane change strategy;

[0085] The third lane change strategy includes canceling the lane change and returning to the initial lane of the vehicle to be controlled;

[0086] Step S520: If the included angle is greater than the preset angle threshold, and the second relative position relationship is that the center point of the vehicle crosses the center line of the lane, the fourth lane change strategy is implemented.

[0087] The fourth lane change strategy includes continuing to change lanes toward the target lane.

[0088] See also Figure 6 , Figure 6 The flowchart of a vehicle control method is shown as an exemplary embodiment of the present application.

[0089] like Figure 6 As shown, in an exemplary embodiment of the present application, the vehicle control method includes at least step S610, step S620, step S630, step S640 and step S650, which are described in detail as follows:

[0090] Step S610. In response to the lane change cancellation instruction, obtaining environmental image information of the vehicle to be controlled;

[0091] Step S620. According to the environmental image information, confirm the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the whole vehicle to be controlled and the center line of the lane;

[0092] It should be noted that, in this application, the lane centerline refers to the centerline between the initial lane of the vehicle to be controlled and the target lane. The first relative position relationship includes the center point of the rear axle not crossing the lane centerline and the center point of the rear axle crossing the lane centerline, wherein the center point of the rear axle crossing the lane centerline includes the center point of the rear axle being on the lane centerline. The second relative position relationship includes the center point of the entire vehicle not crossing the lane centerline and the center point of the entire vehicle crossing the lane centerline, wherein the center point of the entire vehicle crossing the lane centerline includes the center point of the entire vehicle being on the lane centerline.

[0093] Step S630. Compare the included angle with a preset angle threshold to obtain a comparison result;

[0094] Step S640: Determine a lane change strategy for the vehicle to be controlled according to the comparison result, the first relative position relationship and the second relative position relationship;

[0095] Step S650: Control the vehicle to be controlled to drive according to the lane change strategy.

[0096] like Figure 7 As shown, in a specific embodiment, the vehicle control method steps are as follows:

[0097] During the lane change process of the controlled vehicle's automatic driving, the driver finds that the target lane does not meet the lane change conditions and issues a lane change cancellation command;

[0098] In response to the lane change cancellation instruction, acquiring environmental image information of the vehicle to be controlled;

[0099] According to the environmental image information, confirm the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the whole vehicle to be controlled and the center line of the lane; the center line of the lane refers to the center line between the initial lane and the target lane of the vehicle to be controlled. The first relative position relationship includes that the center point of the rear axle does not cross the center line of the lane and the center point of the rear axle crosses the center line of the lane, wherein the center point of the rear axle crosses the center line of the lane includes that the center point of the rear axle is located on the center line of the lane. The second relative position relationship includes that the center point of the whole vehicle does not cross the center line of the lane and the center point of the whole vehicle crosses the center line of the lane, wherein the center point of the whole vehicle crosses the center line of the lane includes that the center point of the whole vehicle is located on the center line of the lane.

[0100] If the angle between the front of the vehicle to be controlled and the center line of the lane is less than or equal to the preset angle threshold of 10°, the system determines that the vehicle to be controlled is in a high-speed small-angle state. At this time, when the vehicle to be controlled is driving from the initial lane, that is, the current lane, into the target lane, if the driver wants to cancel the lane change command, such as by turning the turn signal lever in the opposite direction, Figure 8 As shown, at this time, the vehicle to be controlled can determine the coordinates of the rear axle center point A (XA, YA) through the coordinate system of the vehicle to be controlled, and then determine the relative position relationship between the rear axle center point A and the lane center line (referring to the center line between the initial lane of the vehicle to be controlled and the target lane) according to the dotted line coordinates (XL, YL) given by the high-precision map data. If the vehicle to be controlled has not reached the latest lane change withdrawal point, that is, the rear axle center point A of the vehicle to be controlled has not crossed the lane center line L, the system must give priority to the driver's wishes, that is, cancel the lane change task instruction and return to the initial lane of the vehicle to be controlled, that is, the current lane; but if the rear axle center point A has crossed the lane center line L at this time, as Fig. 9 Even if the driver turns the steering lever in the opposite direction to issue a lane change cancellation command, the lane change cannot be canceled and the system will continue to execute the lane change unless the driver manually takes over the vehicle and the system exits.

[0101] like Fig.10 As shown, point B is the center point of the vehicle to be controlled, the dotted line L is the middle line between the target lane and the current lane, θ is the angle between the front of the vehicle to be controlled and the center line L of the lane (i.e., the reaction steering angle), and the latest withdrawal condition point for lane change lies in the relative position relationship between the center point B of the vehicle and the center line L of the lane.

[0102] When the vehicle to be controlled is traveling at a low speed, and the prerequisites for lane change (navigation task lane change, obstacle avoidance, driver manually shifting the lever to change lanes, selecting a faster lane, etc.) trigger the system lane change command, the steering wheel can adjust the steering angle within a large range. At this time, the vehicle to be controlled can determine the angle between the front of the vehicle to be controlled and the center line of the lane through the coordinate system of the vehicle to be controlled. If the angle between the front of the vehicle to be controlled and the center line of the lane is greater than the preset angle threshold of 10°, the system determines that the vehicle to be controlled is in a low speed-large steering angle state. At this time, when the angle between the front of the vehicle to be controlled and the center line L of the lane is changing from the current lane to the target lane, if the driver wants to cancel the lane change command, such as by turning the turn signal lever in reverse, Fig.11 As shown, the vehicle to be controlled can determine the coordinates of its center point B (XB, YB) through the coordinate system of the vehicle to be controlled, and then determine the relative position relationship between the center point B and the lane center line L according to the dotted line coordinates (XL, YL) given by the high-precision map data. If the latest lane change withdrawal point is not reached (the center point B of the vehicle has not crossed the lane center line L), the system must give priority to the driver's wishes, that is, cancel the lane change task instruction and return to the initial lane of the vehicle to be controlled, that is, the current lane; but if the center point B of the vehicle has crossed the lane center line L at this time, as Fig.11 As shown, even if the driver turns the steering lever in the opposite direction, the lane change cannot be canceled and the system will execute the lane change unless the driver manually takes over the vehicle or the system exits.

[0103] See also Fig.12 The embodiment of the present application further provides a lane change strategy determination system M1200, and the lane change strategy determination system M1200 includes:

[0104] The acquisition module M1210 is used to acquire environmental image information of the vehicle to be controlled in response to the lane change cancellation instruction;

[0105] The first determination module M1220 is used to confirm the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the whole vehicle to be controlled and the center line of the lane according to the environmental image information;

[0106] The lane centerline refers to the centerline between the initial lane and the target lane of the vehicle to be controlled. The first relative position relationship includes the center point of the rear axle not crossing the lane centerline and the center point of the rear axle crossing the lane centerline. The second relative position relationship includes the center point of the entire vehicle not crossing the lane centerline and the center point of the entire vehicle crossing the lane centerline.

[0107] A comparison module M1230 is used to compare the included angle with a preset angle threshold to obtain a comparison result;

[0108] The second determination module M1240 is used to determine the lane change strategy of the vehicle to be controlled according to the comparison result, the first relative position relationship and the second relative position relationship.

[0109] See also Fig.13 , the embodiment of the present application provides a vehicle control system M1300, the vehicle control system M1300 includes:

[0110] The acquisition module M1310 is used to acquire environmental image information of the vehicle to be controlled in response to the lane change cancellation instruction;

[0111] The first determination module M1320 is used to confirm the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the whole vehicle to be controlled and the center line of the lane according to the environmental image information;

[0112] The lane centerline refers to the centerline between the initial lane and the target lane of the vehicle to be controlled. The first relative position relationship includes the center point of the rear axle not crossing the lane centerline and the center point of the rear axle crossing the lane centerline. The second relative position relationship includes the center point of the entire vehicle not crossing the lane centerline and the center point of the entire vehicle crossing the lane centerline.

[0113] A comparison module M1330 is used to compare the included angle with a preset angle threshold to obtain a comparison result;

[0114] A second determination module M1340, configured to determine a lane change strategy of the vehicle to be controlled according to the comparison result, the first relative position relationship and the second relative position relationship;

[0115] The control module M1350 is used to control the vehicle to be controlled to drive according to the lane change strategy.

[0116] It should be noted that the lane change strategy determination system provided in the above embodiment and the lane change strategy determination method provided in the above embodiment belong to the same concept, and the vehicle control system provided in the above embodiment and the vehicle control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In actual applications, the lane change strategy determination system and the vehicle control system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0117] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the lane change strategy determination method or vehicle control method provided in the above-mentioned embodiments.

[0118] Fig.14 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Fig.14 The computer system 1400 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0119] like Fig.14 As shown, the computer system 1400 includes a central processing unit (CPU) 1401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1402 or the program loaded from the storage part 1408 to the random access memory (RAM) 1403, such as executing the method described in the above embodiment. In the RAM 1403, various programs and data required for system operation are also stored. The CPU 1401, the ROM 1402 and the RAM 1403 are connected to each other through the bus 1404. The input / output (I / O) interface 1405 is also connected to the bus 1404.

[0120] The following components are connected to the I / O interface 1405: an input section 1406 including a keyboard, a mouse, etc.; an output section 1407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1408 including a hard disk, etc.; and a communication section 1409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1409 performs communication processing via a network such as the Internet. A drive 1410 is also connected to the I / O interface 1405 as needed. A removable medium 1411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1410 as needed so that a computer program read therefrom is installed into the storage section 1408 as needed.

[0121] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1409, and / or installed from a removable medium 1411. When the computer program is executed by a central processing unit (CPU) 1401, various functions defined in the system of the present application are executed.

[0122] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0123] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0124] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0125] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the lane change strategy determination method or vehicle control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0126] Another aspect of the present application further provides a computer program product or a computer program, the computer program product or the computer program includes a computer instruction, the computer instruction is stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the lane change strategy determination method or the vehicle control method provided in the above-mentioned various embodiments.

[0127] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for determining a lane change strategy, characterized in that: The lane change strategy determination method comprises: In response to the lane change cancellation instruction, acquiring environmental image information of the vehicle to be controlled; According to the environmental image information, confirm the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the whole vehicle of the vehicle to be controlled and the center line of the lane, wherein the center line of the lane refers to the center line between the initial lane and the target lane of the vehicle to be controlled, the first relative position relationship includes the center point of the rear axle not crossing the center line of the lane and the center point of the rear axle crossing the center line of the lane, and the second relative position relationship includes the center point of the whole vehicle not crossing the center line of the lane and the center point of the whole vehicle crossing the center line of the lane; Comparing the included angle with a preset angle threshold to obtain a comparison result; determining a lane changing strategy of the vehicle to be controlled according to the comparison result, the first relative position relationship, and the second relative position relationship; Determine the lane change strategy of the vehicle to be controlled, including: If the angle is less than or equal to a preset angle threshold, determining a lane change strategy for the vehicle to be controlled according to the first relative position relationship; If the angle is greater than a preset angle threshold, and the second relative position relationship is that the center point of the vehicle does not cross the center line of the lane, a third lane change strategy is implemented, and the third lane change strategy includes canceling the lane change and returning to the initial lane of the vehicle to be controlled; If the angle is greater than a preset angle threshold and the second relative position relationship is that the center point of the vehicle crosses the center line of the lane, a fourth lane changing strategy is implemented, and the fourth lane changing strategy includes continuing to change lanes to the target lane.

2. The lane change strategy determination method according to claim 1, characterized in that: Determine the lane change strategy of the vehicle to be controlled, including: If the angle is less than or equal to a preset angle threshold, and the first relative position relationship is that the center point of the rear axle does not cross the center line of the lane, a first lane change strategy is implemented, and the first lane change strategy includes canceling the lane change and returning to the initial lane of the vehicle to be controlled; If the angle is less than or equal to a preset angle threshold, and the first relative position relationship is that the center point of the rear axle crosses the center line of the lane, a second lane change strategy is implemented, and the second lane change strategy includes continuing to change lanes to the target lane.

3. A vehicle control method, characterized in that: The vehicle control method comprises: In response to the lane change cancellation instruction, acquiring environmental image information of the vehicle to be controlled; According to the environmental image information, confirm the angle between the front of the vehicle to be controlled and the center line of the lane, the first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and the second relative position relationship between the center point of the whole vehicle of the vehicle to be controlled and the center line of the lane, wherein the center line of the lane refers to the center line between the initial lane and the target lane of the vehicle to be controlled, the first relative position relationship includes the center point of the rear axle not crossing the center line of the lane and the center point of the rear axle crossing the center line of the lane, and the second relative position relationship includes the center point of the whole vehicle not crossing the center line of the lane and the center point of the whole vehicle crossing the center line of the lane; Comparing the included angle with a preset angle threshold to obtain a comparison result; determining a lane changing strategy of the vehicle to be controlled according to the comparison result, the first relative position relationship, and the second relative position relationship; Controlling the vehicle to be controlled to drive according to the lane changing strategy; Determine the lane change strategy of the vehicle to be controlled, including: If the angle is less than or equal to a preset angle threshold, determining a lane change strategy for the vehicle to be controlled according to the first relative position relationship; If the angle is greater than a preset angle threshold, and the second relative position relationship is that the center point of the vehicle does not cross the center line of the lane, a third lane change strategy is implemented, and the third lane change strategy includes canceling the lane change and returning to the initial lane of the vehicle to be controlled; If the angle is greater than a preset angle threshold and the second relative position relationship is that the center point of the vehicle crosses the center line of the lane, a fourth lane changing strategy is implemented, and the fourth lane changing strategy includes continuing to change lanes to the target lane.

4. A lane change strategy system, characterized in that: The lane change strategy system includes: A collection module, in response to the lane change cancellation instruction, for acquiring environmental image information of the vehicle to be controlled; A first determination module is used to confirm, based on the environmental image information, an angle between the front of the vehicle to be controlled and the center line of the lane, a first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and a second relative position relationship between the center point of the whole vehicle of the vehicle to be controlled and the center line of the lane, wherein the center line of the lane refers to the center line between the initial lane and the target lane of the vehicle to be controlled, the first relative position relationship includes the center point of the rear axle not crossing the center line of the lane and the center point of the rear axle crossing the center line of the lane, and the second relative position relationship includes the center point of the whole vehicle not crossing the center line of the lane and the center point of the whole vehicle crossing the center line of the lane; A comparison module, used for comparing the angle with a preset angle threshold to obtain a comparison result; The second determination module is used to determine the lane changing strategy of the vehicle to be controlled according to the comparison result, the first relative position relationship and the second relative position relationship, and the lane changing strategy of the vehicle to be controlled is determined, including: if the angle is less than or equal to the preset angle threshold, the lane changing strategy of the vehicle to be controlled is determined according to the first relative position relationship; if the angle is greater than the preset angle threshold, and the second relative position relationship is that the center point of the whole vehicle does not cross the center line of the lane, then a third lane changing strategy is implemented, and the third lane changing strategy includes canceling the lane change and returning to the initial lane of the vehicle to be controlled; if the angle is greater than the preset angle threshold, and the second relative position relationship is that the center point of the whole vehicle crosses the center line of the lane, then a fourth lane changing strategy is implemented, and the fourth lane changing strategy includes continuing to change lanes to the target lane.

5. A vehicle control system, characterized in that: The vehicle control system comprises: A collection module, in response to the lane change cancellation instruction, for acquiring environmental image information of the vehicle to be controlled; A first determination module is used to confirm, based on the environmental image information, an angle between the front of the vehicle to be controlled and the center line of the lane, a first relative position relationship between the center point of the rear axle of the vehicle to be controlled and the center line of the lane, and a second relative position relationship between the center point of the whole vehicle of the vehicle to be controlled and the center line of the lane, wherein the center line of the lane refers to the center line between the initial lane and the target lane of the vehicle to be controlled, the first relative position relationship includes the center point of the rear axle not crossing the center line of the lane and the center point of the rear axle crossing the center line of the lane, and the second relative position relationship includes the center point of the whole vehicle not crossing the center line of the lane and the center point of the whole vehicle crossing the center line of the lane; A comparison module, used for comparing the angle with a preset angle threshold to obtain a comparison result; a second determination module, for determining a lane change strategy of the vehicle to be controlled according to the comparison result, the first relative position relationship and the second relative position relationship, and determining the lane change strategy of the vehicle to be controlled, including: if the angle is less than or equal to a preset angle threshold, determining the lane change strategy of the vehicle to be controlled according to the first relative position relationship; if the angle is greater than the preset angle threshold, and the second relative position relationship is that the center point of the whole vehicle does not cross the center line of the lane, then implementing a third lane change strategy, and the third lane change strategy includes canceling the lane change and returning to the initial lane of the vehicle to be controlled; if the angle is greater than the preset angle threshold, and the second relative position relationship is that the center point of the whole vehicle crosses the center line of the lane, then implementing a fourth lane change strategy, and the fourth lane change strategy includes continuing to change lanes to the target lane; The control module is used to control the vehicle to be controlled to drive according to the lane changing strategy.

6. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the method as claimed in claim 1 or 2.

7. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the method as claimed in claim 1 or 2.

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