Automatic Lane Changing Method, Device, Vehicle and Storage Medium for a Vehicle

Abstract

The present application relates to an automatic lane-changing method, device, vehicle and storage medium for a vehicle. The method includes: identifying the lane-changing intentions of N vehicles in front of the vehicle and obtaining the lane-changing information after the N vehicles change lanes, where N is a positive integer; determining whether the vehicle meets a preset lane-changing condition according to the lane-changing intentions and the lane-changing information; if the preset lane-changing condition is met, controlling the vehicle to perform a lane-changing action before one or more of the N vehicles change lanes. The present application can obtain the lane-changing intentions of multiple vehicles in front of the vehicle in the current lane and the lane information after the lane change, and use them as conditions for judging whether to change lanes, so as to change lanes before the vehicles in front affect the driving speed of the vehicle, thereby effectively improving the efficiency of automatic lane-changing and greatly improving the driving experience of users on the premise of ensuring the driving safety of the vehicle.

Description

Technical Field

[0001] This application relates to the technical field of automatic lane change, and particularly relates to an automatic lane change method, device, vehicle and storage medium for a vehicle. Background Art

[0002] The automatic lane change function is controlled based on the recognition and calculation of lane lines and the surrounding environment by sensors. Due to sensor limitations, for the vehicle in front in the same lane, only the vehicle closest to the own vehicle can be recognized. Based on information such as the influence of the speed of the vehicle in front on the speed of the own vehicle, the traffic flow speeds in the two adjacent lanes, and the expected driving trajectory of the own vehicle in the navigation, it is calculated and determined whether the lane change condition is met.

[0003] Currently, related technologies can determine the urgency of lane change required by the current vehicle according to different driving states of the vehicle in front, such as yaw angular velocity, yaw angular acceleration, longitudinal driving speed, deceleration, etc., and then perform different lane change operations according to different urgencies, simulating the lane change operations that a driver may perform in actual driving for different driving states of the vehicle in front, thereby improving the intelligence level of the automatic lane change system; in addition, related technologies can also obtain obstacle information, lane information, and the motion information of the own vehicle through an environment perception unit, and judge the feasibility of automatic lane change, plan a lane change path, so as to control the vehicle to drive according to the lane change path.

[0004] However, related technologies are difficult to greatly improve the efficiency of automatic lane change while ensuring the safety of the vehicle, thus affecting the driving experience of users, and there is an urgent need to solve this problem. Summary of the Invention

[0005] This application provides an automatic lane change method, device, vehicle and storage medium for a vehicle to solve problems such as related technologies being difficult to greatly improve the efficiency of automatic lane change while ensuring the safety of the vehicle.

[0006] The first aspect of the embodiments of this application provides an automatic lane change method for a vehicle, including the following steps: recognizing the lane change intentions of N vehicles in front of the vehicle, and obtaining the lane change information after the N vehicles change lanes, where N is a positive integer; judging whether the vehicle meets a preset lane change condition according to the lane change intentions and the lane change information; and if the preset lane change condition is met, controlling the vehicle to perform a lane change action before one or more of the N vehicles change lanes.

[0007] According to the above technical means, the embodiments of this application can obtain the lane change intentions and the lane information after lane change of multiple vehicles in front in the same lane, and use them as conditions for judging whether to change lanes, so as to change lanes before the vehicle in front affects the driving speed of the own vehicle, thereby effectively improving the efficiency of automatic lane change and greatly improving the driving experience of users on the premise of ensuring the driving safety of the vehicle.

[0008] Optionally, in an embodiment of the present application, before controlling the vehicle to perform a lane change action, it further includes: determining the target lane of the vehicle according to the lane where the one or more vehicles are located after the lane change, so that after the lane change action is completed, the vehicle is in the target lane.

[0009] According to the above technical means, the embodiment of the present application determines the target lane of the vehicle according to the lanes where multiple vehicles are located after the lane change, so that the vehicle is in the target lane after the lane change, thereby ensuring the accuracy and success rate of the vehicle's automatic lane change.

[0010] Optionally, in an embodiment of the present application, the determining the target lane of the vehicle according to the lane where the one or more vehicles are located after the lane change includes: determining the target lane and determining the optimal lane change timing for performing the lane change action based on the priority of the preset lane change timing.

[0011] According to the above technical means, the embodiment of the present application can determine the target lane and the optimal lane change timing for performing the lane change action according to the priority of the lane change timing, thereby effectively improving the orderliness and efficiency of the vehicle's automatic lane change, improving the commuting efficiency, and improving the user's driving experience.

[0012] Optionally, in an embodiment of the present application, the priority of the preset lane change timing is obtained according to the N.

[0013] According to the above technical means, the embodiment of the present application sets the priority of the lane change timing according to the N value, so that the setting of the priority is more reasonable, and further ensures the reliability and efficiency of the vehicle's automatic lane change.

[0014] Optionally, in an embodiment of the present application, before identifying the lane change intentions of the N vehicles in front of the vehicle, it further includes: detecting the current working condition of the vehicle; and if the detected current working condition is an automatic lane change condition, allowing the vehicle to change lanes.

[0015] According to the above technical means, the embodiment of the present application controls the vehicle to change lanes by detecting whether the current working condition of the vehicle is an automatic lane change condition, thereby effectively improving the user's driving experience and making the vehicle more user-friendly and technological.

[0016] An embodiment of the second aspect of the present application provides an automatic lane change device for a vehicle, including: an identification module, configured to identify the lane change intentions of N vehicles in front of the vehicle and obtain the lane change information of the N vehicles after the lane change, where N is a positive integer; a judgment module, configured to judge whether the vehicle meets a preset lane change condition according to the lane change intention and the lane change information; and a control module, configured to, if the preset lane change condition is met, control the vehicle to perform a lane change action before one or more of the N vehicles change lanes.

[0017] Optionally, in an embodiment of the present application, it further includes: a determination module, configured to determine the target lane of the vehicle according to the lane where the vehicle is located after changing lanes before controlling the vehicle to perform a lane change action, so that after the lane change action is completed, the vehicle is in the target lane.

[0018] Optionally, in an embodiment of the present application, the determination module is specifically configured to, based on the priority of the preset lane change timing, determine the target lane and at the same time determine the optimal lane change timing for performing the lane change action.

[0019] Optionally, in an embodiment of the present application, the priority of the preset lane change timing is obtained according to the N.

[0020] Optionally, in an embodiment of the present application, it further includes: a detection module, configured to detect the current working condition of the vehicle before identifying the lane change intentions of N vehicles in front of the vehicle; an allowance module, configured to allow the vehicle to change lanes when it is detected that the current working condition is an automatic lane change condition.

[0021] An embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the automatic lane change method of the vehicle as described in the above embodiment.

[0022] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the program is executed by a processor, it implements the automatic lane change method of the vehicle as described above.

[0023] Therefore, the embodiments of the present application have the following beneficial effects:

[0024] (1) The embodiments of the present application can obtain the lane change intentions and the lane information after lane change of multiple vehicles in front of the current lane, and use them as conditions for judging whether to change lanes, so as to change lanes before the vehicles in front affect the driving speed of the vehicle, thereby effectively improving the efficiency of automatic lane change and greatly improving the user's driving and riding experience on the premise of ensuring the driving safety of the vehicle.

[0025] (2) The embodiments of the present application determine the target lane of the vehicle according to the lanes where multiple vehicles are located after lane change, so that the vehicle is in the target lane after lane change, thereby ensuring the accuracy and success rate of the vehicle's automatic lane change.

[0026] (3) The embodiments of the present application can determine the target lane and the optimal lane-changing timing for performing the lane-changing action according to the priority of the lane-changing timing, thereby effectively improving the orderliness and efficiency of the vehicle's automatic lane change, enhancing the commuting efficiency, and improving the user's driving and riding experience.

[0027] (4) The embodiments of the present application set the priority of the lane-changing timing according to the N value, making the setting of the priority more reasonable and further ensuring the reliability and efficiency of the vehicle's automatic lane change.

[0028] (5) The embodiments of the present application control the vehicle to change lanes by detecting whether the current working condition of the vehicle is an automatic lane-changing condition, thereby effectively improving the user's driving and riding experience and making the vehicle more user-friendly and technological.

[0029] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Brief Description of the Drawings

[0030] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0031] Figure 1 is a flowchart of an automatic lane-changing method for a vehicle according to an embodiment of the present application;

[0032] Figure 2 is a schematic diagram of the principle of automatic lane change for a vehicle provided by an embodiment of the present application;

[0033] Figure 3 is an example diagram of an automatic lane-changing device for a vehicle according to an embodiment of the present application;

[0034] Figure 4 is a schematic diagram of the structure of a vehicle provided by an embodiment of the present application.

[0035] Wherein, 10 - automatic lane-changing device of the vehicle, 100 - recognition module, 200 - judgment module, 300 - control module, 401 - memory, 402 - processor, 403 - communication interface. Detailed Embodiments

[0036] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0037] The following describes an automatic lane change method, apparatus, vehicle, and storage medium for a vehicle according to an embodiment of the present application. In view of the problems mentioned in the above background art, the present application provides an automatic lane change method for a vehicle. In this method, the lane change intentions of N vehicles in front of the vehicle are identified, and the lane change information after the N vehicles change lanes is obtained, where N is a positive integer. According to the lane change intentions and lane change information, it is determined whether the vehicle meets a preset lane change condition. If the preset lane change condition is met, before one or more of the N vehicles change lanes, the vehicle is controlled to perform a lane change action. The present application can obtain the lane change intentions of multiple vehicles in front of the vehicle in the same lane and the lane information after the lane change, and use them as conditions for determining whether to change lanes, so as to change lanes before the vehicles in front affect the driving speed of the vehicle, thereby effectively improving the efficiency of automatic lane change and greatly improving the driving experience of users while ensuring the driving safety of the vehicle. Thus, the problems in the related art that it is difficult to greatly improve the efficiency of automatic lane change while ensuring the safety of the vehicle are solved.

[0038] Specifically, Figure 1 is a flowchart of an automatic lane change method for a vehicle provided by an embodiment of the present application.

[0039] As Figure 1 shown, the automatic lane change method for the vehicle includes the following steps:

[0040] In step S101, the lane change intentions of N vehicles in front of the vehicle are identified, and the lane change information after the N vehicles change lanes is obtained, where N is a positive integer.

[0041] It should be noted that before performing the automatic lane change of the vehicle in the embodiment of the present application, the driving data of N vehicles in front of the vehicle in the same lane, such as vehicle speed, the distance between other vehicles and the vehicle, and the turn signal state, can be obtained through devices such as ultrasonic waves or on-vehicle cameras, so as to identify whether the vehicle in front has a lane change intention and obtain the driving information during and after the vehicle changes lanes as the lane change information of the vehicle.

[0042] For example, embodiments of the present application can obtain image data containing multiple vehicles ahead through an in-vehicle camera, and can identify whether the vehicle ahead turns on the left / right turn signal through relevant deep learning algorithms, etc. At the same time, information such as the distance and speed between the vehicle and the vehicle ahead can also be obtained through sensor devices such as ultrasonic waves. When the distance between the vehicle and the vehicle ahead approaches, and the vehicle ahead decelerates and turns on the left / right turn signal, it can be determined that the vehicle ahead has the intention to change lanes left / right, and the vehicle with the intention to change lanes can be marked. For example, the vehicle with the intention to change lanes left is marked red, and the vehicle with the intention to change lanes right is marked blue, and it is displayed on the vehicle's central control screen. Subsequently, embodiments of the present application can also continue to obtain the driving data of the vehicle ahead after changing lanes through sensor devices, etc., such as the lane data and vehicle speed after changing lanes, so as to make it more intuitive for users to identify the vehicle with the intention to change lanes, and at the same time improve the real-time performance and accuracy of the vehicle to obtain the intention and information of the vehicle ahead to change lanes.

[0043] Optionally, in an embodiment of the present application, before identifying the lane-changing intention of N vehicles ahead of the vehicle, it further includes: detecting the current working condition of the vehicle; when it is detected that the current working condition is an automatic lane-changing condition, the vehicle is allowed to change lanes.

[0044] It should be noted that before identifying the lane-changing intention of the vehicle ahead of the vehicle, embodiments of the present application can also detect the current working condition of the vehicle to determine whether the vehicle can currently change lanes.

[0045] In an embodiment of the present application, the user can issue a voice command, such as "Turn on the automatic lane-changing function!" etc. The vehicle voice receiving device, such as Bluetooth, etc., receives the voice signal, and can extract the key features of the voice through natural language processing related methods, such as "turn on", "lane change", etc., so as to convert the voice command into an electrical signal to control the vehicle to enter the automatic lane-changing mode and allow the vehicle to change lanes; in addition, in an embodiment of the present application, the user can also click the automatic lane-changing mode button at the central control screen or the steering wheel and other devices to turn on the automatic lane-changing mode. After turning on this mode, an icon of the automatic lane-changing mode can be displayed on the vehicle instrument panel, and the user can be reminded through voice, such as "You have turned on the automatic lane-changing mode!", and then operations such as identifying the lane-changing intention and lane-changing information of the vehicle ahead are performed.

[0046] Thus, embodiments of the present application control the vehicle to change lanes by detecting whether the current working condition of the vehicle is an automatic lane-changing condition, thereby effectively improving the driving experience of users and making the vehicle more user-friendly and technological.

[0047] In step S102, it is determined whether the vehicle meets the preset lane-changing conditions according to the lane-changing intention and lane-changing information.

[0048] After identifying the lane-changing intention of the vehicle and obtaining the lane-changing information after the vehicle changes lanes, further, the embodiments of the present application can determine whether the vehicle meets the lane-changing conditions.

[0049] Specifically, the embodiments of the present application can obtain the real-time speed of the vehicle through a vehicle speed sensor, and obtain the distances and speeds of the vehicles in the current lane and the lane where the vehicle intends to change lanes through devices such as cameras and ultrasonic waves, as well as the relevant lane-changing information and the lane-changing intention of the vehicle after the vehicle in front changes lanes, so as to analyze and judge whether the vehicle meets the lane-changing conditions. For example, when the speed of the vehicle is lower than the safety speed threshold (such as 20 km / h to 50 km / h), and the distance between the vehicle in the lane where the vehicle intends to change lanes and the vehicle is greater than the lane-changing distance threshold, such as 6 m, etc., and at the same time, when the vehicle in front has no lane-changing intention, then the vehicle meets the lane-changing conditions and can change lanes, otherwise it does not meet the vehicle lane-changing conditions, and the vehicle reminds the user through voice or other means, such as "Pay attention to the vehicle in front, lane-changing is dangerous!" etc.

[0050] It should be noted that those skilled in the art can also set the above thresholds according to the actual situation, or judge whether the vehicle is suitable for lane-changing in other ways, and no specific limitation is made here.

[0051] Thus, the embodiments of the present application judge whether the vehicle meets the lane-changing conditions through the lane-changing intention and lane-changing information, further improving the driving safety of the vehicle and enhancing the reliability and safety of the vehicle.

[0052] In step S103, if the preset lane-changing conditions are met, before one or more vehicles in the N vehicles change lanes, control the vehicle to execute a lane-changing action.

[0053] After analyzing and judging whether the vehicle meets the lane-changing conditions based on the lane-changing intention and lane-changing information, further, if the vehicle meets the lane-changing conditions, the embodiments of the present application can control the vehicle to execute a lane-changing action before the vehicle in front changes lanes, so as to efficiently and safely achieve automatic lane-changing.

[0054] Optionally, in an embodiment of the present application, before controlling the vehicle to execute a lane-changing action, it further includes: determining the target lane of the vehicle according to the lane where one or more vehicles are located after changing lanes, so that after the lane-changing action is completed, the vehicle is in the target lane.

[0055] It should be noted that before controlling the vehicle to execute a lane-changing action, the embodiments of the present application can also detect whether the second vehicle in front in the current lane, the third vehicle in front in the current lane, until the Nth vehicle in front in the current lane becomes the second vehicle in front after changing lanes to the left / right, the third vehicle in front after changing lanes to the left / right, until it becomes the Nth vehicle in front after changing lanes to the left / right in the current lane, such as Figure 2As shown, thus, the embodiments of the present application determine the target lane of the vehicle according to the lanes where multiple vehicles are located after lane changing, so that the vehicle is in the target lane after lane changing, thereby ensuring the accuracy and success rate of the vehicle's automatic lane change.

[0056] Optionally, in an embodiment of the present application, determining the target lane of the vehicle according to the lanes where one or more vehicles are located after lane changing includes: determining the optimal lane change timing for performing the lane change action while determining the target lane based on the priority of the preset lane change timing.

[0057] Furthermore, in the embodiments of the present application, when N vehicles in front of the vehicle in the current lane become N vehicles in front of the vehicle in the current lane after changing lanes to the left / right, and the Nth vehicle in front of the vehicle in the current lane after changing lanes to the left / right does not become the (N - 1)th vehicle in front of the vehicle in the current lane after changing lanes to the left / right, the vehicle will preferentially choose to change lanes to the lane where the vehicle in front of the vehicle in the current lane has changed lanes, thereby dynamically adjusting the optimization level of the lane change timing.

[0058] Thus, the embodiments of the present application can determine the target lane and the optimal lane change timing for performing the lane change action according to the priority of the lane change timing, thereby effectively improving the orderliness and efficiency of the vehicle's automatic lane change, improving the commuting efficiency, and improving the user's driving experience.

[0059] Optionally, in an embodiment of the present application, the priority of the preset lane change timing is obtained according to N.

[0060] It should be noted that, in the embodiments of the present application, the priority of the lane change timing can be set according to different N values, so that the setting of the priority is more reasonable, and further ensuring the reliability and efficiency of the vehicle's automatic lane change.

[0061] According to the vehicle automatic lane change method proposed by the embodiments of the present application, by identifying the lane change intentions of N vehicles in front of the vehicle and obtaining the lane change information of the N vehicles after lane change, where N is a positive integer; judging whether the vehicle meets the preset lane change conditions according to the lane change intentions and lane change information; if the preset lane change conditions are met, controlling the vehicle to perform a lane change action before one or more of the N vehicles change lanes. The present application can obtain the lane change intentions and the lane information after lane change of multiple vehicles in front of the vehicle in the current lane, and use them as conditions for judging whether to change lanes, so as to change lanes before the vehicles in front affect the driving speed of the vehicle, thereby effectively improving the efficiency of automatic lane change on the premise of ensuring the driving safety of the vehicle, and greatly improving the user's driving experience.

[0062] Next, a vehicle automatic lane change device according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0063] Figure 3 It is a block diagram of the vehicle automatic lane change device according to the embodiment of the present application.

[0064] As Figure 3 shown, the automatic lane-changing device 10 of the vehicle includes: an identification module 100, a judgment module 200, and a control module 300.

[0065] Among them, the identification module 100 is used to identify the lane-changing intentions of N vehicles in front of the vehicle and obtain the lane-changing information after the N vehicles change lanes, where N is a positive integer.

[0066] The judgment module 200 is used to judge whether the vehicle meets the preset lane-changing conditions according to the lane-changing intentions and lane-changing information.

[0067] The control module 300 is used to, if the preset lane-changing conditions are met, control the vehicle to perform a lane-changing action before one or more of the N vehicles change lanes.

[0068] Optionally, in an embodiment of the present application, the automatic lane-changing device 10 of the vehicle in the embodiment of the present application further includes: a determination module, which is used to determine the target lane of the vehicle according to the lanes where one or more vehicles are located after changing lanes before controlling the vehicle to perform a lane-changing action, so that the vehicle is in the target lane after completing the lane-changing action.

[0069] Optionally, in an embodiment of the present application, the determination module is specifically used to determine the optimal lane-changing timing for performing the lane-changing action while determining the target lane based on the priority of the preset lane-changing timing.

[0070] Optionally, in an embodiment of the present application, the priority of the preset lane-changing timing is obtained according to N.

[0071] Optionally, in an embodiment of the present application, the automatic lane-changing device 10 of the vehicle in the embodiment of the present application further includes: a detection module and a permission module.

[0072] Among them, the detection module is used to detect the current working condition of the vehicle before identifying the lane-changing intentions of N vehicles in front of the vehicle.

[0073] The permission module is used to permit the vehicle to change lanes when it is detected that the current working condition is an automatic lane-changing condition.

[0074] It should be noted that the foregoing explanation of the embodiment of the automatic lane-changing method of the vehicle also applies to the automatic lane-changing device of the vehicle in this embodiment, and will not be elaborated here.

[0075] The automatic lane-changing device for a vehicle proposed according to an embodiment of the present application identifies the lane-changing intentions of N vehicles in front of the vehicle and obtains the lane-changing information after the N vehicles change lanes, where N is a positive integer; determines whether the vehicle meets a preset lane-changing condition according to the lane-changing intentions and the lane-changing information; if the preset lane-changing condition is met, controls the vehicle to perform a lane-changing action before one or more of the N vehicles change lanes. The present application can obtain the lane-changing intentions of multiple vehicles in front of the vehicle in the current lane and the lane information after the lane change, and use them as conditions for judging whether to change lanes, so as to change lanes before the vehicles in front affect the driving speed of the vehicle, thereby effectively improving the efficiency of automatic lane-changing and greatly improving the driving experience of users on the premise of ensuring the driving safety of the vehicle.

[0076] Figure 4 The following is a schematic structural diagram of the vehicle provided by the embodiment of the present application. The vehicle may include:

[0077] A memory 401, a processor 402, and a computer program stored on the memory 401 and executable on the processor 402.

[0078] When the processor 402 executes the program, it implements the automatic lane-changing method for the vehicle provided in the above embodiment.

[0079] Further, the vehicle further includes:

[0080] A communication interface 403 for communication between the memory 401 and the processor 402.

[0081] The memory 401 is used to store a computer program executable on the processor 402.

[0082] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0083] If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 can be interconnected through a bus and complete communication with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 4 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0084] Optionally, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a single chip, the memory 401, the processor 402, and the communication interface 403 can communicate with each other through an internal interface.

[0085] The processor 402 may be a central processing unit (CPU for short), or an application specific integrated circuit (ASIC for short), or one or more integrated circuits configured to implement the embodiments of the present application.

[0086] This embodiment also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the automatic lane-changing method of the vehicle as described above is implemented.

[0087] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0088] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0089] Any process or method description in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or N executable instructions for implementing a customized logic function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art of the embodiments of the present application.

[0090] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definitional sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in conjunction with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or N wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, as the program can be obtained electronically by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then stored in a computer memory.

[0091] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0092] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0093] In addition, each functional unit in various embodiments of the present application may be integrated into a processing module, may exist separately physically for each unit, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0094] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. An automatic lane-changing method for a vehicle, characterized in that, It includes the following steps: Identify the lane-changing intentions of N vehicles in front of the vehicle in this lane, and obtain the lane-changing information after the N vehicles change lanes, where N is a positive integer; Judge whether the vehicle meets the preset lane-changing conditions according to the lane-changing intentions and the lane-changing information; and If the preset lane-changing conditions are met, before one or more of the N vehicles change lanes, control the vehicle to perform a lane-changing action; Before controlling the vehicle to perform a lane-changing action, it further includes: Determine the target lane of the vehicle according to the lane where one or more vehicles are located after changing lanes, so that after the lane-changing action is completed, the vehicle is in the target lane; When the N vehicles in front of this lane become N vehicles in front of this lane after changing lanes to the left / right, and the Nth vehicle in front of this lane after changing lanes to the left / right does not become the (N - 1)th vehicle in front of this lane after changing lanes to the left / right, this vehicle will preferentially choose to change lanes to the lane after the vehicles in front of this lane change lanes.

2. The method according to claim 1, characterized in that, The determining the target lane of the vehicle according to the lane where one or more vehicles are located after changing lanes includes: Based on the priority of the preset lane-changing timing, while determining the target lane, determine the optimal lane-changing timing for performing the lane-changing action.

3. The method according to claim 2, characterized in that, The priority of the preset lane-changing timing is obtained according to N.

4. The method according to claim 1, characterized in that, Before identifying the lane-changing intentions of N vehicles in front of the vehicle, it further includes: Detect the current working condition of the vehicle; When it is detected that the current working condition is an automatic lane-changing condition, allow the vehicle to change lanes.

5. An automatic lane-changing device for a vehicle, characterized in that, It includes: An identification module, configured to identify the lane-changing intentions of N vehicles in front of the vehicle in this lane, and obtain the lane-changing information after the N vehicles change lanes, where N is a positive integer; A judgment module, configured to judge whether the vehicle meets the preset lane-changing conditions according to the lane-changing intentions and the lane-changing information; and A control module, configured to, if the preset lane-changing conditions are met, before one or more of the N vehicles change lanes, control the vehicle to perform a lane-changing action; A determining module, configured to determine the target lane of the vehicle according to the lane where one or more vehicles are located after changing lanes before controlling the vehicle to perform a lane-changing action, so that after the lane-changing action is completed, the vehicle is in the target lane; When the N vehicles in front of this lane become N vehicles in front of this lane after changing lanes to the left / right, and the Nth vehicle in front of this lane after changing lanes to the left / right does not become the (N - 1)th vehicle in front of this lane after changing lanes to the left / right, this vehicle will preferentially choose to change lanes to the lane after the vehicles in front of this lane change lanes.

6. The device according to claim 5, characterized in that, The determining module is specifically configured to Based on the priority of the preset lane-changing timing, while determining the target lane, determine the optimal lane-changing timing for performing the lane-changing action.

7. The device according to claim 6, characterized in that, The priority of the preset lane-changing timing is obtained according to N.

8. The device according to claim 5, characterized in that, It further includes: A detection module, configured to detect the current working condition of the vehicle before identifying the lane-changing intentions of N vehicles in front of the vehicle; An allowing module, configured to allow the vehicle to change lanes when it is detected that the current working condition is an automatic lane-changing condition.

9. A vehicle, characterized in that, It includes: A memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the automatic lane change method of a vehicle as described in any one of claims 1-4.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that, The program is executed by the processor to implement the automatic lane change method of a vehicle as described in any one of claims 1-4.

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